Merge branch 'master' of https://github.com/MarekKowalski/LiveScan3D

Simplified the calibration data structure on client.
Updated README, LICENSE and gitignore.

.gitignore

@@ -6,6 +6,7 @@
 *.user
 *.userosscache
 *.sln.docstates
+*.tlog
 
 # User-specific files (MonoDevelop/Xamarin Studio)
 *.userprefs

LICENSE

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2015 Marek
+Copyright (c) 2015 Marek Kowalski, Jacek Naruniec
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

LiveScan.sln

@@ -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
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Debug|Any CPU.ActiveCfg = Debug|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Debug|Mixed Platforms.Build.0 = Debug|Win32
 		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Debug|Win32.ActiveCfg = Debug|Win32
 		{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
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release ICP as exe|Mixed Platforms.Build.0 = Release|Win32
 		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release ICP as exe|Win32.ActiveCfg = Release|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release ICP as exe|Win32.Build.0 = Release|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release|Any CPU.ActiveCfg = Release|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release|Mixed Platforms.ActiveCfg = Release|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release|Mixed Platforms.Build.0 = Release|Win32
 		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release|Win32.ActiveCfg = Release|Win32
 		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release|Win32.Build.0 = Release|Win32
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{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}.Debug|Win32.Build.0 = Debug|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}.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
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Mixed Platforms.Build.0 = Release|Any CPU
 		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Win32.ActiveCfg = Release|Any CPU
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Win32.Build.0 = Release|Any CPU
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Mixed Platforms.Build.0 = Debug|Win32
 		{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
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release|Any CPU.ActiveCfg = Release DLL|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release|Mixed Platforms.ActiveCfg = Release DLL|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release|Mixed Platforms.Build.0 = Release DLL|Win32
 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release|Win32.ActiveCfg = Release DLL|Win32
 		{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

LiveScanClient/KinectClient.vcxproj

@@ -13,6 +13,7 @@
   <ItemGroup>
     <ClInclude Include="..\include\LiveScanClient\calibration.h" />
     <ClInclude Include="..\include\LiveScanClient\filter.h" />
+    <ClInclude Include="..\include\LiveScanClient\frameFileWriterReader.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\frameFileWriterReader.cpp" />
     <ClCompile Include="..\src\LiveScanClient\iCapture.cpp" />
     <ClCompile Include="..\src\LiveScanClient\imageRenderer.cpp" />
     <ClCompile Include="..\src\LiveScanClient\iMarker.cpp" />
@@ -91,7 +93,7 @@
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalLibraryDirectories>c:\Program Files\Microsoft SDKs\Kinect\v2.0_1409\Lib\x86\;D:\opencv\build\x86\vc12\lib;$(KINECTSDK20_DIR)\lib\x86;$(SolutionDir)lib</AdditionalLibraryDirectories>
-      <AdditionalDependencies>opencv_highgui248d.lib;opencv_calib3d248d.lib;opencv_imgproc248d.lib;opencv_core248d.lib;kinect20.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_highgui248d.lib;opencv_calib3d248d.lib;opencv_imgproc248d.lib;opencv_core248d.lib;kinect20.lib;kernel32.lib;libzstdd.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <SubSystem>NotSet</SubSystem>
     </Link>
   </ItemDefinitionGroup>
@@ -111,7 +113,7 @@
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableCOMDATFolding>true</EnableCOMDATFolding>
       <OptimizeReferences>true</OptimizeReferences>
-      <AdditionalDependencies>opencv_highgui248.lib;opencv_calib3d248.lib;opencv_imgproc248.lib;opencv_core248.lib;kinect20.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_highgui248.lib;opencv_calib3d248.lib;opencv_imgproc248.lib;opencv_core248.lib;kinect20.lib;libzstd.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>c:\Program Files\Microsoft SDKs\Kinect\v2.0_1409\Lib\x86\;D:\opencv\build\x86\vc12\lib;$(KINECTSDK20_DIR)\lib\x86;$(SolutionDir)lib</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>

LiveScanClient/KinectClient.vcxproj.filters

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

LiveScanPlayer/App.config

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
+    </startup>
+</configuration>

LiveScanPlayer/FrameFileReaderBin.cs

@@ -0,0 +1,117 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.IO;
+
+namespace LiveScanPlayer
+{
+    class FrameFileReaderBin : IFrameFileReader
+    {
+        BinaryReader binaryReader;
+        int currentFrameIdx = 0;
+        string filename;
+
+        public FrameFileReaderBin(string filename)
+        {
+            this.filename = filename;
+            binaryReader = new BinaryReader(File.Open(this.filename, FileMode.Open));
+        }
+
+        ~FrameFileReaderBin()
+        {
+            binaryReader.Dispose();
+        }
+
+        public int frameIdx
+        {
+            get
+            {
+                return currentFrameIdx;
+            }
+            set
+            {
+                JumpToFrame(value);
+            }
+        }
+
+        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 void Rewind()
+        {
+            currentFrameIdx = 0;
+            binaryReader.BaseStream.Seek(0, SeekOrigin.Begin);
+        }
+
+        public string ReadLine()
+        {
+            StringBuilder builder = new StringBuilder();
+            byte buffer = binaryReader.ReadByte();
+
+            while (buffer != '\n')
+            {
+                builder.Append((char)buffer);
+                buffer = binaryReader.ReadByte();
+            }
+
+            return builder.ToString();
+        }
+    }
+}

LiveScanPlayer/FrameFileReaderPly.cs

@@ -0,0 +1,90 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.IO;
+
+namespace LiveScanPlayer
+{
+    class FrameFileReaderPly : IFrameFileReader
+    {
+        string[] filenames;
+        int currentFrameIdx = 0;
+
+        public FrameFileReaderPly(string[] filenames)
+        {
+            this.filenames = filenames;
+        }
+
+        public int frameIdx
+        {
+            get
+            {
+                return currentFrameIdx;
+            }
+            set
+            {
+                JumpToFrame(value);
+            }
+        }
+
+        public void ReadFrame(List<float> vertices, List<byte> colors)
+        {
+            BinaryReader reader = new BinaryReader(new FileStream(filenames[currentFrameIdx], FileMode.Open));
+
+            string line = ReadLine(reader);
+            while (!line.Contains("element vertex"))
+                line = ReadLine(reader);
+            string[] lineElems = line.Split(' ');
+            int nPoints = Int32.Parse(lineElems[2]);
+            while (!line.Contains("end_header"))
+                line = ReadLine(reader);
+
+            for (int i = 0; i < nPoints; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    vertices.Add(reader.ReadSingle());
+                }
+                for (int j = 0; j < 3; j++)
+                {
+                    colors.Add(reader.ReadByte());
+                }
+            }
+
+            reader.Dispose();
+
+            currentFrameIdx++;
+            if (currentFrameIdx >= filenames.Length)
+                currentFrameIdx = 0;
+        }
+
+        public void JumpToFrame(int frameIdx)
+        {
+            currentFrameIdx = frameIdx;
+            if (currentFrameIdx >= filenames.Length)
+                currentFrameIdx = 0;
+        }
+
+        public void Rewind()
+        {
+            currentFrameIdx = 0;
+        }
+
+        public string ReadLine(BinaryReader binaryReader)
+        {
+            StringBuilder builder = new StringBuilder();
+            byte buffer = binaryReader.ReadByte();
+
+            while (buffer != '\n')
+            {
+                builder.Append((char)buffer);
+                buffer = binaryReader.ReadByte();
+            }
+
+            return builder.ToString();
+        }
+
+    }
+}

LiveScanPlayer/IFrameFileReader.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace LiveScanPlayer
+{
+    interface IFrameFileReader
+    {
+        int frameIdx
+        {
+            get;
+            set;
+        }
+
+        void ReadFrame(List<float> vertices, List<byte> colors);
+
+        void JumpToFrame(int frameIdx);
+
+        void Rewind();
+    }
+}

LiveScanPlayer/LiveScanPlayer.csproj

@@ -0,0 +1,101 @@
+<?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="FrameFileReaderPly.cs" />
+    <Compile Include="IFrameFileReader.cs" />
+    <Compile Include="PlayerWindowForm.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="PlayerWindowForm.Designer.cs">
+      <DependentUpon>PlayerWindowForm.cs</DependentUpon>
+    </Compile>
+    <Compile Include="FrameFileReaderBin.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>

LiveScanPlayer/PlayerWindowForm.Designer.cs

@@ -0,0 +1,169 @@
+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.btnSelectPly = new System.Windows.Forms.Button();
+            this.SuspendLayout();
+            // 
+            // btSelect
+            // 
+            this.btSelect.Location = new System.Drawing.Point(12, 41);
+            this.btSelect.Name = "btSelect";
+            this.btSelect.Size = new System.Drawing.Size(89, 23);
+            this.btSelect.TabIndex = 0;
+            this.btSelect.Text = "Select bin 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(89, 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, 157);
+            this.btShow.Name = "btShow";
+            this.btShow.Size = new System.Drawing.Size(89, 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, 128);
+            this.btRewind.Name = "btRewind";
+            this.btRewind.Size = new System.Drawing.Size(89, 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, 99);
+            this.btRemove.Name = "btRemove";
+            this.btRemove.Size = new System.Drawing.Size(89, 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(107, 12);
+            this.lFrameFilesListView.MultiSelect = false;
+            this.lFrameFilesListView.Name = "lFrameFilesListView";
+            this.lFrameFilesListView.Size = new System.Drawing.Size(408, 139);
+            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(432, 157);
+            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;
+            // 
+            // btnSelectPly
+            // 
+            this.btnSelectPly.Location = new System.Drawing.Point(12, 70);
+            this.btnSelectPly.Name = "btnSelectPly";
+            this.btnSelectPly.Size = new System.Drawing.Size(89, 23);
+            this.btnSelectPly.TabIndex = 9;
+            this.btnSelectPly.Text = "Select ply files";
+            this.btnSelectPly.UseVisualStyleBackColor = true;
+            this.btnSelectPly.Click += new System.EventHandler(this.btnSelectPly_Click);
+            // 
+            // PlayerWindowForm
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(527, 190);
+            this.Controls.Add(this.btnSelectPly);
+            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;
+        private System.Windows.Forms.Button btnSelectPly;
+    }
+}
+

LiveScanPlayer/PlayerWindowForm.cs

@@ -0,0 +1,237 @@
+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<IFrameFileReader> lFrameFiles = new BindingList<IFrameFileReader>();
+        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 FrameFileReaderBin(dialog.FileNames[i]));
+
+                    var item = new ListViewItem(new [] { "0", dialog.FileNames[i]});
+                    lFrameFilesListView.Items.Add(item);
+                }
+            }
+        }
+
+        private void btnSelectPly_Click(object sender, EventArgs e)
+        {
+            OpenFileDialog dialog = new OpenFileDialog();
+            dialog.Multiselect = true;
+            dialog.ShowDialog();
+
+            if (dialog.FileNames.Length == 0)
+                return;
+
+            lock (lFrameFiles)
+            {
+                    lFrameFiles.Add(new FrameFileReaderPly(dialog.FileNames));
+                    
+                    
+                    var item = new ListViewItem(new[] { "0", Path.GetDirectoryName(dialog.FileNames[0]) });
+                    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.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);
+        }
+    }
+}

LiveScanPlayer/PlayerWindowForm.resx

@@ -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>

LiveScanPlayer/Program.cs

@@ -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());
+        }
+    }
+}

LiveScanPlayer/Properties/AssemblyInfo.cs

@@ -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")]

LiveScanPlayer/Properties/Resources.Designer.cs

@@ -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;
+            }
+        }
+    }
+}

LiveScanPlayer/Properties/Resources.resx

@@ -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>

LiveScanPlayer/Properties/Settings.Designer.cs

@@ -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;
+            }
+        }
+    }
+}

LiveScanPlayer/Properties/Settings.settings

@@ -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>

LiveScanServer/KinectSettings.cs

@@ -35,10 +35,11 @@ namespace KinectServer
 
         public bool bStreamOnlyBodies = false;
         public bool bShowSkeletons = true;
+        public int iCompressionLevel = 2;       // 0 for no compression, 2 is recommended
 
         public int nNumICPIterations = 10;
         public int nNumRefineIters = 2;
-        public bool bMergeScansForSave = false;
+        public bool bMergeScansForSave = true;
         public bool bSaveAsBinaryPLY = true;
 
         public KinectSettings()
@@ -96,6 +97,9 @@ namespace KinectServer
             else
                 lData.Add(0);
 
+            bTemp = BitConverter.GetBytes(iCompressionLevel);
+            lData.AddRange(bTemp);
+
             return lData;
         }
     }

LiveScanServer/KinectSocket.cs

@@ -42,7 +42,7 @@ namespace KinectServer
 
         public List<byte> lFrameRGB = new List<byte>();
         public List<Single> lFrameVerts = new List<Single>();
-        public List<Body> lBodies = new List<Body>();
+        public List<Body> lBodies = new List<Body>(); 
 
         public event SocketChangedHandler eChanged;
 
@@ -99,7 +99,7 @@ namespace KinectServer
 
         public void SendCalibrationData()
         {
-            int size = 1 + 2 * (9 + 3) * sizeof(float);
+            int size = 1 + (9 + 3) * sizeof(float);
             byte[] data = new byte[size];
             int i = 0;
 
@@ -111,12 +111,6 @@ namespace KinectServer
             Buffer.BlockCopy(oWorldTransform.t, 0, data, i, 3 * sizeof(float));
             i += 3 * sizeof(float);
 
-            Buffer.BlockCopy(oCameraPose.R, 0, data, i, 9 * sizeof(float));
-            i += 9 * sizeof(float);
-            Buffer.BlockCopy(oCameraPose.t, 0, data, i, 3 * sizeof(float));
-            i += 3 * sizeof(float);
-
-
             if (SocketConnected())
                 oSocket.Send(data);
         }
@@ -141,11 +135,15 @@ namespace KinectServer
             buffer = Receive(sizeof(float) * 3);
             Buffer.BlockCopy(buffer, 0, oWorldTransform.t, 0, sizeof(float) * 3);
 
-            buffer = Receive(sizeof(float) * 9);
+            oCameraPose.R = oWorldTransform.R;
-            Buffer.BlockCopy(buffer, 0, oCameraPose.R, 0, sizeof(float) * 9);
+            for (int i = 0; i < 3; i++)
-
+            {
-            buffer = Receive(sizeof(float) * 3);
+                oCameraPose.t[i] = 0.0f;
-            Buffer.BlockCopy(buffer, 0, oCameraPose.t, 0, sizeof(float) * 3);
+                for (int j = 0; j < 3; j++)
+                {
+                    oCameraPose.t[i] += oWorldTransform.t[j] * oWorldTransform.R[i, j];
+                }
+            }
 
             UpdateSocketState();
         }
@@ -165,19 +163,16 @@ namespace KinectServer
                     return;
             }
 
-            oSocket.Receive(buffer, 4, SocketFlags.None);
+            oSocket.Receive(buffer, 8, SocketFlags.None);
-
-            //string result = System.Text.Encoding.UTF8.GetString(buffer);
-            //n_to_read = Int32.Parse(result);
-
             nToRead = BitConverter.ToInt32(buffer, 0);
+            int iCompressed = BitConverter.ToInt32(buffer, 4);
 
             if (nToRead == -1)
             {
                 bNoMoreStoredFrames = true;
                 return;
             }
-            
+
             buffer = new byte[nToRead];
             int nAlreadyRead = 0;
 
@@ -192,6 +187,12 @@ namespace KinectServer
                 nAlreadyRead += oSocket.Receive(buffer, nAlreadyRead, nToRead - nAlreadyRead, SocketFlags.None);
             }
 
+            
+
+
+            if (iCompressed == 1)
+                buffer = ZSTDDecompressor.Decompress(buffer);
+
             //Receive depth and color data
             int startIdx = 0;
 

LiveScanServer/LiveScanServer.csproj

@@ -32,7 +32,10 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL" />
+    <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="OpenTK.Compatibility, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL" />
     <Reference Include="OpenTK.GLControl, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL" />
     <Reference Include="System" />
@@ -68,8 +71,10 @@
     <Compile Include="TransferServer.cs" />
     <Compile Include="TransferSocket.cs" />
     <Compile Include="Utils.cs" />
+    <Compile Include="ZSTDDecompressor.cs" />
     <EmbeddedResource Include="MainWindowForm.resx">
       <DependentUpon>MainWindowForm.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     <EmbeddedResource Include="Properties\Resources.resx">
       <Generator>ResXFileCodeGenerator</Generator>

LiveScanServer/MainWindowForm.Designer.cs

@@ -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);

LiveScanServer/MainWindowForm.cs

@@ -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();
+            oTransferServer = new TransferServer();
-            oTranfserServer.lVertices = lAllVertices;
+            oTransferServer.lVertices = lAllVertices;
-            oTranfserServer.lColors = lAllColors;
+            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)

LiveScanServer/OpenGLWindow.cs

@@ -18,6 +18,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Globalization;
+using System.Windows.Forms.Layout;
 
 using System.Diagnostics;
 
@@ -32,7 +33,7 @@ enum ECameraMode
 
 namespace KinectServer
 {
-    class OpenGLWindow : GameWindow
+    public class OpenGLWindow : GameWindow
     {
         int PointCount;
         int LineCount;
@@ -43,6 +44,8 @@ namespace KinectServer
 
         static float KEYBOARD_MOVE_SPEED = 0.01f;
 
+        bool IsFullscreen = false;
+
         static float MOUSE_ORBIT_SPEED = 0.30f;     // 0 = SLOWEST, 1 = FASTEST
         static float MOUSE_DOLLY_SPEED = 0.2f;     // same as above...but much more sensitive
         static float MOUSE_TRACK_SPEED = 0.003f;    // same as above...but much more sensitive
@@ -52,6 +55,8 @@ namespace KinectServer
         float dx = 0.0f;
         float dy = 0.0f;
 
+        byte brightnessModifier = 0;
+
         Vector2 MousePrevious = new Vector2();
         Vector2 MouseCurrent = new Vector2();
         float[] cameraPosition = new float[3];
@@ -66,6 +71,8 @@ namespace KinectServer
         DateTime tFPSUpdateTimer = DateTime.Now;
         int nTickCounter = 0;
 
+        bool bDrawMarkings = true;
+
         // this struct is used for drawing
         struct VertexC4ubV3f
         {
@@ -79,7 +86,7 @@ namespace KinectServer
 
         /// <summary>Creates a 800x600 window with the specified title.</summary>
         public OpenGLWindow()
-            : base(800, 600)
+            : base(800, 600, GraphicsMode.Default, "LiveScan")
         {
             this.VSync = VSyncMode.Off;
             MouseUp += new EventHandler<MouseButtonEventArgs>(OnMouseButtonUp);
@@ -88,7 +95,7 @@ namespace KinectServer
             MouseWheel += new EventHandler<MouseWheelEventArgs>(OnMouseWheelChanged);
 
             KeyDown += new EventHandler<KeyboardKeyEventArgs>(OnKeyDown);
-
+            
             cameraPosition[0] = 0;
             cameraPosition[1] = 0;
             cameraPosition[2] = 1.0f;
@@ -102,9 +109,59 @@ namespace KinectServer
             nTickCounter++;
         }
 
+        public void ToggleFullscreen()
+        {
+            if (IsFullscreen)
+            {
+                WindowBorder = WindowBorder.Resizable;
+                WindowState = WindowState.Normal;
+                ClientSize = new System.Drawing.Size(800, 600);
+                CursorVisible = true;
+            }
+            else
+            {
+                CursorVisible = false;
+                WindowBorder = WindowBorder.Hidden;
+                WindowState = WindowState.Fullscreen;
+            }
+            IsFullscreen = !IsFullscreen;
+        }
+
         void OnKeyDown(object sender, KeyboardKeyEventArgs e)
         {
-//            e.Key
+
+            var keyboard = e.Keyboard;
+            if (keyboard[Key.Escape])
+            {
+                Exit();
+            }
+            if (keyboard[Key.Plus])
+            {
+                PointSize += 0.1f;
+                GL.PointSize(PointSize);
+            }
+            if (keyboard[Key.Minus])
+            {
+                if (PointSize != 0)
+                    PointSize -= 0.1f;
+                GL.PointSize(PointSize);
+            }
+            if (keyboard[Key.W])
+                cameraPosition[2] -= KEYBOARD_MOVE_SPEED;
+            if (keyboard[Key.A])
+                cameraPosition[0] -= KEYBOARD_MOVE_SPEED;
+            if (keyboard[Key.S])
+                cameraPosition[2] += KEYBOARD_MOVE_SPEED;
+            if (keyboard[Key.D])
+                cameraPosition[0] += KEYBOARD_MOVE_SPEED;
+            if (keyboard[Key.F])
+                ToggleFullscreen();
+            if (keyboard[Key.M])
+                bDrawMarkings = !bDrawMarkings;
+            if (keyboard[Key.O])
+                brightnessModifier = (byte)Math.Max(0, brightnessModifier - 10);
+            if (keyboard[Key.P])
+                brightnessModifier = (byte)Math.Min(255, brightnessModifier + 10);
         }
 
         /// <summary>Load resources here.</summary>
@@ -265,70 +322,53 @@ namespace KinectServer
                 nTickCounter = 0;
             }
 
-            var keyboard = OpenTK.Input.Keyboard.GetState();
-            if (keyboard[Key.Escape])
-            {
-                Exit();
-            }
-            if (keyboard[Key.Plus])
-            {
-                PointSize += 0.1f;
-                GL.PointSize(PointSize);
-            }
-            if (keyboard[Key.Minus])
-            {
-                if (PointSize != 0)
-                    PointSize -= 0.1f;
-                GL.PointSize(PointSize);
-            }
-            if (keyboard[Key.W])
-                cameraPosition[2] -= KEYBOARD_MOVE_SPEED;
-            if (keyboard[Key.A])
-                cameraPosition[0] -= KEYBOARD_MOVE_SPEED;
-            if (keyboard[Key.S])
-                cameraPosition[2] += KEYBOARD_MOVE_SPEED;
-            if (keyboard[Key.D])
-                cameraPosition[0] += KEYBOARD_MOVE_SPEED;
 
             lock (vertices)
             {
                 bool bShowSkeletons = settings.bShowSkeletons;
 
                 PointCount = vertices.Count / 3;
-                //bounding box
+                LineCount = 0;
-                LineCount = 12;
+                if (bDrawMarkings)
-                //markers
+                {
-                LineCount += settings.lMarkerPoses.Count * 3;
+                    //bounding box
-                //cameras
+                    LineCount += 12;
-                LineCount += cameraPoses.Count * 3;
+                    //markers
-                if (bShowSkeletons)
+                    LineCount += settings.lMarkerPoses.Count * 3;
-                    LineCount += 24 * bodies.Count;
+                    //cameras
+                    LineCount += cameraPoses.Count * 3;
+                    if (bShowSkeletons)
+                        LineCount += 24 * bodies.Count;
+                }
 
                 VBO = new VertexC4ubV3f[PointCount + 2 * LineCount];
 
                 for (int i = 0; i < PointCount; i++)
                 {
-                    VBO[i].R = (byte)colors[i * 3];
+                    VBO[i].R = (byte)Math.Max(0, Math.Min(255, (colors[i * 3] + brightnessModifier)));
-                    VBO[i].G = (byte)colors[i * 3 + 1];
+                    VBO[i].G = (byte)Math.Max(0, Math.Min(255, (colors[i * 3 + 1] + brightnessModifier)));
-                    VBO[i].B = (byte)colors[i * 3 + 2];
+                    VBO[i].B = (byte)Math.Max(0, Math.Min(255, (colors[i * 3 + 2] + brightnessModifier)));
                     VBO[i].A = 255;
                     VBO[i].Position.X = vertices[i * 3];
                     VBO[i].Position.Y = vertices[i * 3 + 1];
                     VBO[i].Position.Z = vertices[i * 3 + 2];
                 }
 
-                int iCurLineCount = 0;
+                if (bDrawMarkings)
-                iCurLineCount += AddBoundingBox(PointCount + 2 * iCurLineCount);
-                for (int i = 0; i < settings.lMarkerPoses.Count; i++)
                 {
-                    iCurLineCount += AddMarker(PointCount + 2 * iCurLineCount, settings.lMarkerPoses[i].pose);
+                    int iCurLineCount = 0;
+                    iCurLineCount += AddBoundingBox(PointCount + 2 * iCurLineCount);
+                    for (int i = 0; i < settings.lMarkerPoses.Count; i++)
+                    {
+                        iCurLineCount += AddMarker(PointCount + 2 * iCurLineCount, settings.lMarkerPoses[i].pose);
+                    }
+                    for (int i = 0; i < cameraPoses.Count; i++)
+                    {
+                        iCurLineCount += AddCamera(PointCount + 2 * iCurLineCount, cameraPoses[i]);
+                    }
+                    if (bShowSkeletons)
+                        iCurLineCount += AddBodies(PointCount + 2 * iCurLineCount);
                 }
-                for (int i = 0; i < cameraPoses.Count; i++)
-                {
-                    iCurLineCount += AddCamera(PointCount + 2 * iCurLineCount, cameraPoses[i]);
-                }
-                if (bShowSkeletons)
-                    iCurLineCount += AddBodies(PointCount + 2 * iCurLineCount);
             }
         }
 

LiveScanServer/SettingsForm.Designer.cs

@@ -34,7 +34,7 @@
             this.txtICPIters = new System.Windows.Forms.TextBox();
             this.grClient = new System.Windows.Forms.GroupBox();
             this.grBody = new System.Windows.Forms.GroupBox();
-            this.label1 = new System.Windows.Forms.Label();
+            this.chSkeletons = new System.Windows.Forms.CheckBox();
             this.chBodyData = new System.Windows.Forms.CheckBox();
             this.grMarkers = new System.Windows.Forms.GroupBox();
             this.lbX2 = new System.Windows.Forms.Label();
@@ -77,7 +77,8 @@
             this.rAsciiPly = new System.Windows.Forms.RadioButton();
             this.txtRefinIters = new System.Windows.Forms.TextBox();
             this.lbOuterIters = new System.Windows.Forms.Label();
-            this.chSkeletons = new System.Windows.Forms.CheckBox();
+            this.label2 = new System.Windows.Forms.Label();
+            this.cbCompressionLevel = new System.Windows.Forms.ComboBox();
             this.grClient.SuspendLayout();
             this.grBody.SuspendLayout();
             this.grMarkers.SuspendLayout();
@@ -89,18 +90,20 @@
             // lbMerge
             // 
             this.lbMerge.AutoSize = true;
-            this.lbMerge.Location = new System.Drawing.Point(6, 49);
+            this.lbMerge.Location = new System.Drawing.Point(7, 69);
+            this.lbMerge.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbMerge.Name = "lbMerge";
-            this.lbMerge.Size = new System.Drawing.Size(69, 13);
+            this.lbMerge.Size = new System.Drawing.Size(99, 20);
             this.lbMerge.TabIndex = 22;
             this.lbMerge.Text = "Scan saving:";
             // 
             // chMerge
             // 
             this.chMerge.AutoSize = true;
-            this.chMerge.Location = new System.Drawing.Point(98, 48);
+            this.chMerge.Location = new System.Drawing.Point(156, 70);
+            this.chMerge.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.chMerge.Name = "chMerge";
-            this.chMerge.Size = new System.Drawing.Size(86, 17);
+            this.chMerge.Size = new System.Drawing.Size(126, 24);
             this.chMerge.TabIndex = 23;
             this.chMerge.Text = "merge scans";
             this.chMerge.UseVisualStyleBackColor = true;
@@ -109,17 +112,19 @@
             // lbICPIters
             // 
             this.lbICPIters.AutoSize = true;
-            this.lbICPIters.Location = new System.Drawing.Point(6, 26);
+            this.lbICPIters.Location = new System.Drawing.Point(7, 34);
+            this.lbICPIters.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbICPIters.Name = "lbICPIters";
-            this.lbICPIters.Size = new System.Drawing.Size(86, 13);
+            this.lbICPIters.Size = new System.Drawing.Size(128, 20);
             this.lbICPIters.TabIndex = 24;
             this.lbICPIters.Text = "Num of ICP iters:";
             // 
             // txtICPIters
             // 
-            this.txtICPIters.Location = new System.Drawing.Point(98, 23);
+            this.txtICPIters.Location = new System.Drawing.Point(156, 31);
+            this.txtICPIters.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtICPIters.Name = "txtICPIters";
-            this.txtICPIters.Size = new System.Drawing.Size(38, 20);
+            this.txtICPIters.Size = new System.Drawing.Size(55, 26);
             this.txtICPIters.TabIndex = 25;
             this.txtICPIters.TextChanged += new System.EventHandler(this.txtICPIters_TextChanged);
             // 
@@ -129,9 +134,11 @@
             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.Location = new System.Drawing.Point(18, 18);
+            this.grClient.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grClient.Name = "grClient";
-            this.grClient.Size = new System.Drawing.Size(632, 327);
+            this.grClient.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grClient.Size = new System.Drawing.Size(948, 447);
             this.grClient.TabIndex = 43;
             this.grClient.TabStop = false;
             this.grClient.Text = "KinectClient settings";
@@ -139,30 +146,35 @@
             // grBody
             // 
             this.grBody.Controls.Add(this.chSkeletons);
-            this.grBody.Controls.Add(this.label1);
             this.grBody.Controls.Add(this.chBodyData);
-            this.grBody.Location = new System.Drawing.Point(9, 211);
+            this.grBody.Location = new System.Drawing.Point(14, 325);
+            this.grBody.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grBody.Name = "grBody";
-            this.grBody.Size = new System.Drawing.Size(249, 110);
+            this.grBody.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grBody.Size = new System.Drawing.Size(374, 101);
             this.grBody.TabIndex = 47;
             this.grBody.TabStop = false;
             this.grBody.Text = "Body data";
             // 
-            // label1
+            // chSkeletons
             // 
-            this.label1.AutoSize = true;
+            this.chSkeletons.AutoSize = true;
-            this.label1.Location = new System.Drawing.Point(8, 61);
+            this.chSkeletons.Location = new System.Drawing.Point(16, 63);
-            this.label1.Name = "label1";
+            this.chSkeletons.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
-            this.label1.Size = new System.Drawing.Size(187, 13);
+            this.chSkeletons.Name = "chSkeletons";
-            this.label1.TabIndex = 20;
+            this.chSkeletons.Size = new System.Drawing.Size(220, 24);
-            this.label1.Text = "More features will be added here soon";
+            this.chSkeletons.TabIndex = 21;
+            this.chSkeletons.Text = "show skeletons in live view";
+            this.chSkeletons.UseVisualStyleBackColor = true;
+            this.chSkeletons.CheckedChanged += new System.EventHandler(this.chSkeletons_CheckedChanged);
             // 
             // chBodyData
             // 
             this.chBodyData.AutoSize = true;
-            this.chBodyData.Location = new System.Drawing.Point(11, 19);
+            this.chBodyData.Location = new System.Drawing.Point(16, 29);
+            this.chBodyData.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.chBodyData.Name = "chBodyData";
-            this.chBodyData.Size = new System.Drawing.Size(113, 17);
+            this.chBodyData.Size = new System.Drawing.Size(167, 24);
             this.chBodyData.TabIndex = 19;
             this.chBodyData.Text = "stream only bodies";
             this.chBodyData.UseVisualStyleBackColor = true;
@@ -186,9 +198,11 @@
             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(271, 19);
+            this.grMarkers.Location = new System.Drawing.Point(406, 29);
+            this.grMarkers.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grMarkers.Name = "grMarkers";
-            this.grMarkers.Size = new System.Drawing.Size(353, 185);
+            this.grMarkers.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grMarkers.Size = new System.Drawing.Size(530, 285);
             this.grMarkers.TabIndex = 45;
             this.grMarkers.TabStop = false;
             this.grMarkers.Text = "Calibration markers";
@@ -196,17 +210,19 @@
             // lbX2
             // 
             this.lbX2.AutoSize = true;
-            this.lbX2.Location = new System.Drawing.Point(230, 19);
+            this.lbX2.Location = new System.Drawing.Point(345, 29);
+            this.lbX2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbX2.Name = "lbX2";
-            this.lbX2.Size = new System.Drawing.Size(14, 13);
+            this.lbX2.Size = new System.Drawing.Size(20, 20);
             this.lbX2.TabIndex = 49;
             this.lbX2.Text = "X";
             // 
             // btRemove
             // 
-            this.btRemove.Location = new System.Drawing.Point(233, 127);
+            this.btRemove.Location = new System.Drawing.Point(350, 195);
+            this.btRemove.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.btRemove.Name = "btRemove";
-            this.btRemove.Size = new System.Drawing.Size(92, 23);
+            this.btRemove.Size = new System.Drawing.Size(138, 35);
             this.btRemove.TabIndex = 59;
             this.btRemove.Text = "Remove marker";
             this.btRemove.UseVisualStyleBackColor = true;
@@ -214,68 +230,76 @@
             // 
             // txtOrientationZ
             // 
-            this.txtOrientationZ.Location = new System.Drawing.Point(305, 38);
+            this.txtOrientationZ.Location = new System.Drawing.Point(458, 58);
+            this.txtOrientationZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtOrientationZ.Name = "txtOrientationZ";
-            this.txtOrientationZ.Size = new System.Drawing.Size(38, 20);
+            this.txtOrientationZ.Size = new System.Drawing.Size(55, 26);
             this.txtOrientationZ.TabIndex = 48;
             this.txtOrientationZ.TextChanged += new System.EventHandler(this.txtOrientationZ_TextChanged);
             // 
             // txtId
             // 
-            this.txtId.Location = new System.Drawing.Point(217, 93);
+            this.txtId.Location = new System.Drawing.Point(326, 143);
+            this.txtId.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtId.Name = "txtId";
-            this.txtId.Size = new System.Drawing.Size(38, 20);
+            this.txtId.Size = new System.Drawing.Size(55, 26);
             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(274, 19);
+            this.lbY2.Location = new System.Drawing.Point(411, 29);
+            this.lbY2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbY2.Name = "lbY2";
-            this.lbY2.Size = new System.Drawing.Size(14, 13);
+            this.lbY2.Size = new System.Drawing.Size(20, 20);
             this.lbY2.TabIndex = 50;
             this.lbY2.Text = "Y";
             // 
             // txtOrientationY
             // 
-            this.txtOrientationY.Location = new System.Drawing.Point(261, 38);
+            this.txtOrientationY.Location = new System.Drawing.Point(392, 58);
+            this.txtOrientationY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtOrientationY.Name = "txtOrientationY";
-            this.txtOrientationY.Size = new System.Drawing.Size(38, 20);
+            this.txtOrientationY.Size = new System.Drawing.Size(55, 26);
             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(132, 96);
+            this.lbId.Location = new System.Drawing.Point(198, 148);
+            this.lbId.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbId.Name = "lbId";
-            this.lbId.Size = new System.Drawing.Size(54, 13);
+            this.lbId.Size = new System.Drawing.Size(78, 20);
             this.lbId.TabIndex = 57;
             this.lbId.Text = "Marker id:";
             // 
             // lbZ2
             // 
             this.lbZ2.AutoSize = true;
-            this.lbZ2.Location = new System.Drawing.Point(317, 19);
+            this.lbZ2.Location = new System.Drawing.Point(476, 29);
+            this.lbZ2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbZ2.Name = "lbZ2";
-            this.lbZ2.Size = new System.Drawing.Size(14, 13);
+            this.lbZ2.Size = new System.Drawing.Size(19, 20);
             this.lbZ2.TabIndex = 51;
             this.lbZ2.Text = "Z";
             // 
             // txtOrientationX
             // 
-            this.txtOrientationX.Location = new System.Drawing.Point(217, 38);
+            this.txtOrientationX.Location = new System.Drawing.Point(326, 58);
+            this.txtOrientationX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtOrientationX.Name = "txtOrientationX";
-            this.txtOrientationX.Size = new System.Drawing.Size(38, 20);
+            this.txtOrientationX.Size = new System.Drawing.Size(55, 26);
             this.txtOrientationX.TabIndex = 46;
             this.txtOrientationX.TextChanged += new System.EventHandler(this.txtOrientationX_TextChanged);
             // 
             // btAdd
             // 
-            this.btAdd.Location = new System.Drawing.Point(135, 127);
+            this.btAdd.Location = new System.Drawing.Point(202, 195);
+            this.btAdd.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.btAdd.Name = "btAdd";
-            this.btAdd.Size = new System.Drawing.Size(92, 23);
+            this.btAdd.Size = new System.Drawing.Size(138, 35);
             this.btAdd.TabIndex = 56;
             this.btAdd.Text = "Add marker";
             this.btAdd.UseVisualStyleBackColor = true;
@@ -284,51 +308,58 @@
             // lbTranslation
             // 
             this.lbTranslation.AutoSize = true;
-            this.lbTranslation.Location = new System.Drawing.Point(132, 68);
+            this.lbTranslation.Location = new System.Drawing.Point(198, 105);
+            this.lbTranslation.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbTranslation.Name = "lbTranslation";
-            this.lbTranslation.Size = new System.Drawing.Size(62, 13);
+            this.lbTranslation.Size = new System.Drawing.Size(91, 20);
             this.lbTranslation.TabIndex = 52;
             this.lbTranslation.Text = "Translation:";
             // 
             // lbOrientation
             // 
             this.lbOrientation.AutoSize = true;
-            this.lbOrientation.Location = new System.Drawing.Point(132, 41);
+            this.lbOrientation.Location = new System.Drawing.Point(198, 63);
+            this.lbOrientation.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbOrientation.Name = "lbOrientation";
-            this.lbOrientation.Size = new System.Drawing.Size(61, 13);
+            this.lbOrientation.Size = new System.Drawing.Size(91, 20);
             this.lbOrientation.TabIndex = 45;
             this.lbOrientation.Text = "Orientation:";
             // 
             // txtTranslationZ
             // 
-            this.txtTranslationZ.Location = new System.Drawing.Point(305, 65);
+            this.txtTranslationZ.Location = new System.Drawing.Point(458, 100);
+            this.txtTranslationZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtTranslationZ.Name = "txtTranslationZ";
-            this.txtTranslationZ.Size = new System.Drawing.Size(38, 20);
+            this.txtTranslationZ.Size = new System.Drawing.Size(55, 26);
             this.txtTranslationZ.TabIndex = 55;
             this.txtTranslationZ.TextChanged += new System.EventHandler(this.txtTranslationZ_TextChanged);
             // 
             // txtTranslationX
             // 
-            this.txtTranslationX.Location = new System.Drawing.Point(217, 65);
+            this.txtTranslationX.Location = new System.Drawing.Point(326, 100);
+            this.txtTranslationX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtTranslationX.Name = "txtTranslationX";
-            this.txtTranslationX.Size = new System.Drawing.Size(38, 20);
+            this.txtTranslationX.Size = new System.Drawing.Size(55, 26);
             this.txtTranslationX.TabIndex = 53;
             this.txtTranslationX.TextChanged += new System.EventHandler(this.txtTranslationX_TextChanged);
             // 
             // lisMarkers
             // 
             this.lisMarkers.FormattingEnabled = true;
-            this.lisMarkers.Location = new System.Drawing.Point(6, 41);
+            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.Name = "lisMarkers";
-            this.lisMarkers.Size = new System.Drawing.Size(120, 108);
+            this.lisMarkers.Size = new System.Drawing.Size(178, 164);
             this.lisMarkers.TabIndex = 43;
             this.lisMarkers.SelectedIndexChanged += new System.EventHandler(this.lisMarkers_SelectedIndexChanged);
             // 
             // txtTranslationY
             // 
-            this.txtTranslationY.Location = new System.Drawing.Point(261, 65);
+            this.txtTranslationY.Location = new System.Drawing.Point(392, 100);
+            this.txtTranslationY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtTranslationY.Name = "txtTranslationY";
-            this.txtTranslationY.Size = new System.Drawing.Size(38, 20);
+            this.txtTranslationY.Size = new System.Drawing.Size(55, 26);
             this.txtTranslationY.TabIndex = 54;
             this.txtTranslationY.TextChanged += new System.EventHandler(this.txtTranslationY_TextChanged);
             // 
@@ -345,9 +376,11 @@
             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(9, 19);
+            this.grBounding.Location = new System.Drawing.Point(14, 29);
+            this.grBounding.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grBounding.Name = "grBounding";
-            this.grBounding.Size = new System.Drawing.Size(249, 91);
+            this.grBounding.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grBounding.Size = new System.Drawing.Size(374, 140);
             this.grBounding.TabIndex = 46;
             this.grBounding.TabStop = false;
             this.grBounding.Text = "Bounding box";
@@ -355,93 +388,104 @@
             // lbMin
             // 
             this.lbMin.AutoSize = true;
-            this.lbMin.Location = new System.Drawing.Point(8, 38);
+            this.lbMin.Location = new System.Drawing.Point(12, 58);
+            this.lbMin.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbMin.Name = "lbMin";
-            this.lbMin.Size = new System.Drawing.Size(65, 13);
+            this.lbMin.Size = new System.Drawing.Size(95, 20);
             this.lbMin.TabIndex = 13;
             this.lbMin.Text = "Min bounds:";
             // 
             // txtMaxZ
             // 
-            this.txtMaxZ.Location = new System.Drawing.Point(181, 62);
+            this.txtMaxZ.Location = new System.Drawing.Point(272, 95);
+            this.txtMaxZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMaxZ.Name = "txtMaxZ";
-            this.txtMaxZ.Size = new System.Drawing.Size(38, 20);
+            this.txtMaxZ.Size = new System.Drawing.Size(55, 26);
             this.txtMaxZ.TabIndex = 23;
             this.txtMaxZ.TextChanged += new System.EventHandler(this.txtMaxZ_TextChanged);
             // 
             // txtMaxY
             // 
-            this.txtMaxY.Location = new System.Drawing.Point(137, 62);
+            this.txtMaxY.Location = new System.Drawing.Point(206, 95);
+            this.txtMaxY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMaxY.Name = "txtMaxY";
-            this.txtMaxY.Size = new System.Drawing.Size(38, 20);
+            this.txtMaxY.Size = new System.Drawing.Size(55, 26);
             this.txtMaxY.TabIndex = 22;
             this.txtMaxY.TextChanged += new System.EventHandler(this.txtMaxY_TextChanged);
             // 
             // txtMinX
             // 
-            this.txtMinX.Location = new System.Drawing.Point(93, 35);
+            this.txtMinX.Location = new System.Drawing.Point(140, 54);
+            this.txtMinX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMinX.Name = "txtMinX";
-            this.txtMinX.Size = new System.Drawing.Size(38, 20);
+            this.txtMinX.Size = new System.Drawing.Size(55, 26);
             this.txtMinX.TabIndex = 14;
             this.txtMinX.TextChanged += new System.EventHandler(this.txtMinX_TextChanged);
             // 
             // txtMaxX
             // 
-            this.txtMaxX.Location = new System.Drawing.Point(93, 62);
+            this.txtMaxX.Location = new System.Drawing.Point(140, 95);
+            this.txtMaxX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMaxX.Name = "txtMaxX";
-            this.txtMaxX.Size = new System.Drawing.Size(38, 20);
+            this.txtMaxX.Size = new System.Drawing.Size(55, 26);
             this.txtMaxX.TabIndex = 21;
             this.txtMaxX.TextChanged += new System.EventHandler(this.txtMaxX_TextChanged);
             // 
             // txtMinY
             // 
-            this.txtMinY.Location = new System.Drawing.Point(137, 35);
+            this.txtMinY.Location = new System.Drawing.Point(206, 54);
+            this.txtMinY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMinY.Name = "txtMinY";
-            this.txtMinY.Size = new System.Drawing.Size(38, 20);
+            this.txtMinY.Size = new System.Drawing.Size(55, 26);
             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(8, 65);
+            this.lbMax.Location = new System.Drawing.Point(12, 100);
+            this.lbMax.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbMax.Name = "lbMax";
-            this.lbMax.Size = new System.Drawing.Size(68, 13);
+            this.lbMax.Size = new System.Drawing.Size(99, 20);
             this.lbMax.TabIndex = 20;
             this.lbMax.Text = "Max bounds:";
             // 
             // txtMinZ
             // 
-            this.txtMinZ.Location = new System.Drawing.Point(181, 35);
+            this.txtMinZ.Location = new System.Drawing.Point(272, 54);
+            this.txtMinZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtMinZ.Name = "txtMinZ";
-            this.txtMinZ.Size = new System.Drawing.Size(38, 20);
+            this.txtMinZ.Size = new System.Drawing.Size(55, 26);
             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(193, 16);
+            this.lbZ.Location = new System.Drawing.Point(290, 25);
+            this.lbZ.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbZ.Name = "lbZ";
-            this.lbZ.Size = new System.Drawing.Size(14, 13);
+            this.lbZ.Size = new System.Drawing.Size(19, 20);
             this.lbZ.TabIndex = 19;
             this.lbZ.Text = "Z";
             // 
             // lbY
             // 
             this.lbY.AutoSize = true;
-            this.lbY.Location = new System.Drawing.Point(150, 16);
+            this.lbY.Location = new System.Drawing.Point(225, 25);
+            this.lbY.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbY.Name = "lbY";
-            this.lbY.Size = new System.Drawing.Size(14, 13);
+            this.lbY.Size = new System.Drawing.Size(20, 20);
             this.lbY.TabIndex = 18;
             this.lbY.Text = "Y";
             // 
             // lbX
             // 
             this.lbX.AutoSize = true;
-            this.lbX.Location = new System.Drawing.Point(106, 16);
+            this.lbX.Location = new System.Drawing.Point(159, 25);
+            this.lbX.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbX.Name = "lbX";
-            this.lbX.Size = new System.Drawing.Size(14, 13);
+            this.lbX.Size = new System.Drawing.Size(20, 20);
             this.lbX.TabIndex = 17;
             this.lbX.Text = "X";
             // 
@@ -452,27 +496,31 @@
             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(9, 116);
+            this.grFiltering.Location = new System.Drawing.Point(14, 178);
+            this.grFiltering.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grFiltering.Name = "grFiltering";
-            this.grFiltering.Size = new System.Drawing.Size(249, 88);
+            this.grFiltering.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grFiltering.Size = new System.Drawing.Size(374, 135);
             this.grFiltering.TabIndex = 45;
             this.grFiltering.TabStop = false;
             this.grFiltering.Text = "Filtering";
             // 
             // txtFilterNeighbors
             // 
-            this.txtFilterNeighbors.Location = new System.Drawing.Point(93, 39);
+            this.txtFilterNeighbors.Location = new System.Drawing.Point(140, 60);
+            this.txtFilterNeighbors.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtFilterNeighbors.Name = "txtFilterNeighbors";
-            this.txtFilterNeighbors.Size = new System.Drawing.Size(38, 20);
+            this.txtFilterNeighbors.Size = new System.Drawing.Size(55, 26);
             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(93, 16);
+            this.chFilter.Location = new System.Drawing.Point(140, 25);
+            this.chFilter.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.chFilter.Name = "chFilter";
-            this.chFilter.Size = new System.Drawing.Size(100, 17);
+            this.chFilter.Size = new System.Drawing.Size(147, 24);
             this.chFilter.TabIndex = 18;
             this.chFilter.Text = "filtering enabled";
             this.chFilter.UseVisualStyleBackColor = true;
@@ -481,31 +529,36 @@
             // lbFilterNeighbors
             // 
             this.lbFilterNeighbors.AutoSize = true;
-            this.lbFilterNeighbors.Location = new System.Drawing.Point(8, 42);
+            this.lbFilterNeighbors.Location = new System.Drawing.Point(12, 65);
+            this.lbFilterNeighbors.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbFilterNeighbors.Name = "lbFilterNeighbors";
-            this.lbFilterNeighbors.Size = new System.Drawing.Size(67, 13);
+            this.lbFilterNeighbors.Size = new System.Drawing.Size(98, 20);
             this.lbFilterNeighbors.TabIndex = 19;
             this.lbFilterNeighbors.Text = "N neighbors:";
             // 
             // lbFilterDistance
             // 
             this.lbFilterDistance.AutoSize = true;
-            this.lbFilterDistance.Location = new System.Drawing.Point(8, 68);
+            this.lbFilterDistance.Location = new System.Drawing.Point(12, 105);
+            this.lbFilterDistance.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
             this.lbFilterDistance.Name = "lbFilterDistance";
-            this.lbFilterDistance.Size = new System.Drawing.Size(73, 13);
+            this.lbFilterDistance.Size = new System.Drawing.Size(106, 20);
             this.lbFilterDistance.TabIndex = 21;
             this.lbFilterDistance.Text = "Max distance:";
             // 
             // txtFilterDistance
             // 
-            this.txtFilterDistance.Location = new System.Drawing.Point(93, 65);
+            this.txtFilterDistance.Location = new System.Drawing.Point(140, 100);
+            this.txtFilterDistance.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.txtFilterDistance.Name = "txtFilterDistance";
-            this.txtFilterDistance.Size = new System.Drawing.Size(38, 20);
+            this.txtFilterDistance.Size = new System.Drawing.Size(55, 26);
             this.txtFilterDistance.TabIndex = 22;
             this.txtFilterDistance.TextChanged += new System.EventHandler(this.txtFilterDistance_TextChanged);
             // 
             // grServer
             // 
+            this.grServer.Controls.Add(this.cbCompressionLevel);
+            this.grServer.Controls.Add(this.label2);
             this.grServer.Controls.Add(this.rBinaryPly);
             this.grServer.Controls.Add(this.lbFormat);
             this.grServer.Controls.Add(this.rAsciiPly);
@@ -515,9 +568,11 @@
             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, 345);
+            this.grServer.Location = new System.Drawing.Point(18, 478);
+            this.grServer.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
             this.grServer.Name = "grServer";
-            this.grServer.Size = new System.Drawing.Size(632, 111);
+            this.grServer.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
+            this.grServer.Size = new System.Drawing.Size(948, 175);
             this.grServer.TabIndex = 44;
             this.grServer.TabStop = false;
             this.grServer.Text = "KinectServer settings";
@@ -525,9 +580,10 @@
             // rBinaryPly
             // 
             this.rBinaryPly.AutoSize = true;
-            this.rBinaryPly.Location = new System.Drawing.Point(179, 71);
+            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(76, 17);
+            this.rBinaryPly.Size = new System.Drawing.Size(110, 24);
             this.rBinaryPly.TabIndex = 30;
             this.rBinaryPly.TabStop = true;
             this.rBinaryPly.Text = "binary PLY";
@@ -537,18 +593,20 @@
             // lbFormat
             // 
             this.lbFormat.AutoSize = true;
-            this.lbFormat.Location = new System.Drawing.Point(6, 73);
+            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(58, 13);
+            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(98, 71);
+            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(75, 17);
+            this.rAsciiPly.Size = new System.Drawing.Size(111, 24);
             this.rAsciiPly.TabIndex = 28;
             this.rAsciiPly.TabStop = true;
             this.rAsciiPly.Text = "ASCII PLY";
@@ -557,40 +615,63 @@
             // 
             // txtRefinIters
             // 
-            this.txtRefinIters.Location = new System.Drawing.Point(266, 23);
+            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(38, 20);
+            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(142, 26);
+            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(118, 13);
+            this.lbOuterIters.Size = new System.Drawing.Size(178, 20);
             this.lbOuterIters.TabIndex = 26;
             this.lbOuterIters.Text = "Num of refinement iters:";
             // 
-            // chSkeletons
+            // label2
             // 
-            this.chSkeletons.AutoSize = true;
+            this.label2.AutoSize = true;
-            this.chSkeletons.Location = new System.Drawing.Point(11, 41);
+            this.label2.Location = new System.Drawing.Point(8, 139);
-            this.chSkeletons.Name = "chSkeletons";
+            this.label2.Name = "label2";
-            this.chSkeletons.Size = new System.Drawing.Size(154, 17);
+            this.label2.Size = new System.Drawing.Size(141, 20);
-            this.chSkeletons.TabIndex = 21;
+            this.label2.TabIndex = 31;
-            this.chSkeletons.Text = "show skeletons in live view";
+            this.label2.Text = "Compression level:";
-            this.chSkeletons.UseVisualStyleBackColor = true;
+            // 
-            this.chSkeletons.CheckedChanged += new System.EventHandler(this.chSkeletons_CheckedChanged);
+            // cbCompressionLevel
+            // 
+            this.cbCompressionLevel.FormattingEnabled = true;
+            this.cbCompressionLevel.Items.AddRange(new object[] {
+            "0 (no compression)",
+            "1",
+            "2 (recommended)",
+            "3",
+            "5",
+            "7",
+            "9",
+            "11",
+            "13",
+            "15",
+            "17",
+            "19"});
+            this.cbCompressionLevel.Location = new System.Drawing.Point(154, 136);
+            this.cbCompressionLevel.Name = "cbCompressionLevel";
+            this.cbCompressionLevel.Size = new System.Drawing.Size(169, 28);
+            this.cbCompressionLevel.TabIndex = 32;
+            this.cbCompressionLevel.SelectedIndexChanged += new System.EventHandler(this.cbCompressionLevel_SelectedIndexChanged);
             // 
             // SettingsForm
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(656, 468);
+            this.ClientSize = new System.Drawing.Size(984, 663);
             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";
@@ -657,11 +738,12 @@
         private System.Windows.Forms.Label lbX;
         private System.Windows.Forms.GroupBox grBody;
         private System.Windows.Forms.CheckBox chBodyData;
-        private System.Windows.Forms.Label label1;
         private System.Windows.Forms.RadioButton rBinaryPly;
         private System.Windows.Forms.Label lbFormat;
         private System.Windows.Forms.RadioButton rAsciiPly;
         private System.Windows.Forms.CheckBox chSkeletons;
+        private System.Windows.Forms.ComboBox cbCompressionLevel;
+        private System.Windows.Forms.Label label2;
 
     }
 }

LiveScanServer/SettingsForm.cs

@@ -54,6 +54,8 @@ namespace KinectServer
             chBodyData.Checked = oSettings.bStreamOnlyBodies;
             chSkeletons.Checked = oSettings.bShowSkeletons;
 
+            cbCompressionLevel.SelectedText = oSettings.iCompressionLevel.ToString();
+
             chMerge.Checked = oSettings.bMergeScansForSave;
             txtICPIters.Text = oSettings.nNumICPIterations.ToString();
             txtRefinIters.Text = oSettings.nNumRefineIters.ToString();
@@ -316,5 +318,22 @@ namespace KinectServer
         {
             oSettings.bShowSkeletons = chSkeletons.Checked;
         }
+
+        private void cbCompressionLevel_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            int index = cbCompressionLevel.SelectedIndex;
+            if (index == 0)
+                oSettings.iCompressionLevel = 0;
+            else if (index == 2)
+                oSettings.iCompressionLevel = 2;
+            else
+            {
+                string value = cbCompressionLevel.SelectedItem.ToString();
+                bool tryParse = Int32.TryParse(value, out oSettings.iCompressionLevel);
+                if (!tryParse)
+                    oSettings.iCompressionLevel = 0;
+            }
+            UpdateClients();
+        }
     }
 }

LiveScanServer/TransferServer.cs

@@ -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)

LiveScanServer/TransferSocket.cs

@@ -9,7 +9,7 @@ using System.Runtime.Serialization.Formatters.Binary;
 
 namespace KinectServer
 {
-    class TransferSocket
+    public class TransferSocket
     {
         TcpClient oSocket;
 

LiveScanServer/Utils.cs

@@ -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();
+        }
+    }
 }

LiveScanServer/ZSTDDecompressor.cs

@@ -0,0 +1,41 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Runtime.InteropServices;
+using size_t = System.UIntPtr;
+
+namespace KinectServer
+{
+    static class ZSTDDecompressor
+    {
+        private const string dllName = "libzstd.dll";
+
+        [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
+        public static extern ulong ZSTD_getDecompressedSize(IntPtr src, size_t srcSize);
+
+        [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
+        public static extern size_t ZSTD_decompress(IntPtr dst, size_t dstSize, 
+            IntPtr src, size_t srcSize);
+
+        public static byte[] Decompress(byte []array)
+        {
+            int size = array.Count();
+            IntPtr ptr = Marshal.AllocHGlobal(size);
+            Marshal.Copy(array, 0, ptr, size);
+
+            int outSize = (int)ZSTD_getDecompressedSize(ptr, (size_t)size);
+            
+            IntPtr outPtr = Marshal.AllocHGlobal(outSize);
+            ZSTD_decompress(outPtr, (size_t)outSize, ptr, (size_t)size);
+
+            byte[] outArray = new byte[outSize];
+            Marshal.Copy(outPtr, outArray, 0, outSize);
+            
+            Marshal.FreeHGlobal(ptr);
+            Marshal.FreeHGlobal(outPtr);
+            return outArray;
+        }
+    }
+}

README.md

@@ -4,10 +4,11 @@ LiveScan3D is a system designed for real time 3D reconstruction using multiple K
 The produced 3D reconstruction is in the form of a coloured point cloud, with points from all of the Kinects placed in the same coordinate system. Possible use scenarios of the system include:
   * capturing an object’s 3D structure from multiple viewpoints simultaneously,
   * capturing a “panoramic” 3D structure of a scene (extending the field of view of one sensor by using many),
+  * streaming the reconstructed point cloud to a remote location, 
   * increasing the density of a point cloud captured by a single sensor, by having multiple sensors capture the same scene.
 
 You will also find a short presentation of LiveScan3D in the video below (click to go to YouTube):
-[![IMAGE ALT TEXT HERE](http://img.youtube.com/vi/9y_WglwpJtE/0.jpg)](http://www.youtube.com/watch?v=9y_WglwpJtE)
+[![YouTube link](http://img.youtube.com/vi/9y_WglwpJtE/0.jpg)](http://www.youtube.com/watch?v=9y_WglwpJtE)
 
 At the moment connecting multiple Kinect v2 devices to a single computer is difficult and only possible under Linux. Also, the number of the devices or capture speed might be low, because of the limitations of the PCI-E bus.
 
@@ -28,6 +29,7 @@ While all of our code is licensed under the MIT license, the 3rd party libraries
   * nanoflann - https://github.com/jlblancoc/nanoflann, BSD license
   * OpenCV - https://github.com/Itseez/opencv, 3-clause BSD license
   * OpenTK - https://github.com/opentk/opentk, MIT/X11 license
+  * ZSTD - https://github.com/facebook/zstd, BSD license
   * SocketCS - http://www.adp-gmbh.ch/win/misc/sockets.html
  
 If you use this software in your research, then please use the following citation:

include/LiveScanClient/calibration.h

@@ -34,9 +34,6 @@ public:
 	vector<vector<float>> worldR;
 	int iUsedMarkerId;
 
-	vector<float> cameraT;
-	vector<vector<float>> cameraR;
-
 	vector<MarkerPose> markerPoses;
 
 	bool bCalibrated;
@@ -45,6 +42,8 @@ public:
 	~Calibration();
 
 	bool Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
+	bool LoadCalibration();
+	void SaveCalibration();
 private:
 	IMarker *pDetector;
 	int nSampleCounter;

include/LiveScanClient/frameFileWriterReader.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include <chrono>
+#include "utils.h"
+
+class FrameFileWriterReader
+{
+public:
+    FrameFileWriterReader();
+	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();
+
+    ~FrameFileWriterReader();
+
+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 "frameFileWriterReader.h"
 #include <thread>
 #include <mutex>
 
@@ -52,15 +53,18 @@ private:
 	bool m_bConfirmCaptured;
 	bool m_bConfirmCalibrated;
 	bool m_bShowDepth;
-	
+	bool m_bFrameCompression;
+	int m_iCompressionLevel;
+
+	FrameFileWriterReader m_framesFileWriterReader;
+
+
 	SocketClient *m_pClientSocket;
 	std::vector<float> m_vBounds;
 
 	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;

include/zstd.h

@@ -0,0 +1,692 @@
+/*
+ * Copyright (c) 2016-present, Yann Collet, Facebook, Inc.
+ * All rights reserved.
+ *
+ * This source code is licensed under the BSD-style license found in the
+ * LICENSE file in the root directory of this source tree. An additional grant
+ * of patent rights can be found in the PATENTS file in the same directory.
+ */
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+#ifndef ZSTD_H_235446
+#define ZSTD_H_235446
+
+/* ======   Dependency   ======*/
+#include <stddef.h>   /* size_t */
+
+
+/* =====   ZSTDLIB_API : control library symbols visibility   ===== */
+#if defined(__GNUC__) && (__GNUC__ >= 4)
+#  define ZSTDLIB_VISIBILITY __attribute__ ((visibility ("default")))
+#else
+#  define ZSTDLIB_VISIBILITY
+#endif
+#if defined(ZSTD_DLL_EXPORT) && (ZSTD_DLL_EXPORT==1)
+#  define ZSTDLIB_API __declspec(dllexport) ZSTDLIB_VISIBILITY
+#elif defined(ZSTD_DLL_IMPORT) && (ZSTD_DLL_IMPORT==1)
+#  define ZSTDLIB_API __declspec(dllimport) ZSTDLIB_VISIBILITY /* It isn't required but allows to generate better code, saving a function pointer load from the IAT and an indirect jump.*/
+#else
+#  define ZSTDLIB_API ZSTDLIB_VISIBILITY
+#endif
+
+
+/*******************************************************************************************************
+  Introduction
+
+  zstd, short for Zstandard, is a fast lossless compression algorithm, targeting real-time compression scenarios
+  at zlib-level and better compression ratios. The zstd compression library provides in-memory compression and
+  decompression functions. The library supports compression levels from 1 up to ZSTD_maxCLevel() which is 22.
+  Levels >= 20, labelled `--ultra`, should be used with caution, as they require more memory.
+  Compression can be done in:
+    - a single step (described as Simple API)
+    - a single step, reusing a context (described as Explicit memory management)
+    - unbounded multiple steps (described as Streaming compression)
+  The compression ratio achievable on small data can be highly improved using compression with a dictionary in:
+    - a single step (described as Simple dictionary API)
+    - a single step, reusing a dictionary (described as Fast dictionary API)
+
+  Advanced experimental functions can be accessed using #define ZSTD_STATIC_LINKING_ONLY before including zstd.h.
+  These APIs shall never be used with a dynamic library.
+  They are not "stable", their definition may change in the future. Only static linking is allowed.
+*********************************************************************************************************/
+
+/*------   Version   ------*/
+#define ZSTD_VERSION_MAJOR    1
+#define ZSTD_VERSION_MINOR    1
+#define ZSTD_VERSION_RELEASE  3
+
+#define ZSTD_LIB_VERSION ZSTD_VERSION_MAJOR.ZSTD_VERSION_MINOR.ZSTD_VERSION_RELEASE
+#define ZSTD_QUOTE(str) #str
+#define ZSTD_EXPAND_AND_QUOTE(str) ZSTD_QUOTE(str)
+#define ZSTD_VERSION_STRING ZSTD_EXPAND_AND_QUOTE(ZSTD_LIB_VERSION)
+
+#define ZSTD_VERSION_NUMBER  (ZSTD_VERSION_MAJOR *100*100 + ZSTD_VERSION_MINOR *100 + ZSTD_VERSION_RELEASE)
+ZSTDLIB_API unsigned ZSTD_versionNumber(void);   /**< library version number; to be used when checking dll version */
+
+
+/***************************************
+*  Simple API
+***************************************/
+/*! ZSTD_compress() :
+    Compresses `src` content as a single zstd compressed frame into already allocated `dst`.
+    Hint : compression runs faster if `dstCapacity` >=  `ZSTD_compressBound(srcSize)`.
+    @return : compressed size written into `dst` (<= `dstCapacity),
+              or an error code if it fails (which can be tested using ZSTD_isError()). */
+ZSTDLIB_API size_t ZSTD_compress( void* dst, size_t dstCapacity,
+                            const void* src, size_t srcSize,
+                                  int compressionLevel);
+
+/*! ZSTD_decompress() :
+    `compressedSize` : must be the _exact_ size of a single compressed frame.
+    `dstCapacity` is an upper bound of originalSize.
+    If user cannot imply a maximum upper bound, it's better to use streaming mode to decompress data.
+    @return : the number of bytes decompressed into `dst` (<= `dstCapacity`),
+              or an errorCode if it fails (which can be tested using ZSTD_isError()). */
+ZSTDLIB_API size_t ZSTD_decompress( void* dst, size_t dstCapacity,
+                              const void* src, size_t compressedSize);
+
+/*! ZSTD_getDecompressedSize() :
+*   'src' is the start of a zstd compressed frame.
+*   @return : content size to be decompressed, as a 64-bits value _if known_, 0 otherwise.
+*    note 1 : decompressed size is an optional field, that may not be present, especially in streaming mode.
+*             When `return==0`, data to decompress could be any size.
+*             In which case, it's necessary to use streaming mode to decompress data.
+*             Optionally, application can still use ZSTD_decompress() while relying on implied limits.
+*             (For example, data may be necessarily cut into blocks <= 16 KB).
+*    note 2 : decompressed size is always present when compression is done with ZSTD_compress()
+*    note 3 : decompressed size can be very large (64-bits value),
+*             potentially larger than what local system can handle as a single memory segment.
+*             In which case, it's necessary to use streaming mode to decompress data.
+*    note 4 : If source is untrusted, decompressed size could be wrong or intentionally modified.
+*             Always ensure result fits within application's authorized limits.
+*             Each application can set its own limits.
+*    note 5 : when `return==0`, if precise failure cause is needed, use ZSTD_getFrameParams() to know more. */
+ZSTDLIB_API unsigned long long ZSTD_getDecompressedSize(const void* src, size_t srcSize);
+
+
+/*======  Helper functions  ======*/
+ZSTDLIB_API int         ZSTD_maxCLevel(void);               /*!< maximum compression level available */
+ZSTDLIB_API size_t      ZSTD_compressBound(size_t srcSize); /*!< maximum compressed size in worst case scenario */
+ZSTDLIB_API unsigned    ZSTD_isError(size_t code);          /*!< tells if a `size_t` function result is an error code */
+ZSTDLIB_API const char* ZSTD_getErrorName(size_t code);     /*!< provides readable string from an error code */
+
+
+/***************************************
+*  Explicit memory management
+***************************************/
+/*= Compression context
+*   When compressing many times,
+*   it is recommended to allocate a context just once, and re-use it for each successive compression operation.
+*   This will make workload friendlier for system's memory.
+*   Use one context per thread for parallel execution in multi-threaded environments. */
+typedef struct ZSTD_CCtx_s ZSTD_CCtx;
+ZSTDLIB_API ZSTD_CCtx* ZSTD_createCCtx(void);
+ZSTDLIB_API size_t     ZSTD_freeCCtx(ZSTD_CCtx* cctx);
+
+/*! ZSTD_compressCCtx() :
+    Same as ZSTD_compress(), requires an allocated ZSTD_CCtx (see ZSTD_createCCtx()). */
+ZSTDLIB_API size_t ZSTD_compressCCtx(ZSTD_CCtx* ctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, int compressionLevel);
+
+/*= Decompression context */
+typedef struct ZSTD_DCtx_s ZSTD_DCtx;
+ZSTDLIB_API ZSTD_DCtx* ZSTD_createDCtx(void);
+ZSTDLIB_API size_t     ZSTD_freeDCtx(ZSTD_DCtx* dctx);
+
+/*! ZSTD_decompressDCtx() :
+*   Same as ZSTD_decompress(), requires an allocated ZSTD_DCtx (see ZSTD_createDCtx()). */
+ZSTDLIB_API size_t ZSTD_decompressDCtx(ZSTD_DCtx* ctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+
+
+/**************************
+*  Simple dictionary API
+***************************/
+/*! ZSTD_compress_usingDict() :
+*   Compression using a predefined Dictionary (see dictBuilder/zdict.h).
+*   Note : This function loads the dictionary, resulting in significant startup delay.
+*   Note : When `dict == NULL || dictSize < 8` no dictionary is used. */
+ZSTDLIB_API size_t ZSTD_compress_usingDict(ZSTD_CCtx* ctx,
+                                           void* dst, size_t dstCapacity,
+                                     const void* src, size_t srcSize,
+                                     const void* dict,size_t dictSize,
+                                           int compressionLevel);
+
+/*! ZSTD_decompress_usingDict() :
+*   Decompression using a predefined Dictionary (see dictBuilder/zdict.h).
+*   Dictionary must be identical to the one used during compression.
+*   Note : This function loads the dictionary, resulting in significant startup delay.
+*   Note : When `dict == NULL || dictSize < 8` no dictionary is used. */
+ZSTDLIB_API size_t ZSTD_decompress_usingDict(ZSTD_DCtx* dctx,
+                                             void* dst, size_t dstCapacity,
+                                       const void* src, size_t srcSize,
+                                       const void* dict,size_t dictSize);
+
+
+/****************************
+*  Fast dictionary API
+****************************/
+typedef struct ZSTD_CDict_s ZSTD_CDict;
+
+/*! ZSTD_createCDict() :
+*   When compressing multiple messages / blocks with the same dictionary, it's recommended to load it just once.
+*   ZSTD_createCDict() will create a digested dictionary, ready to start future compression operations without startup delay.
+*   ZSTD_CDict can be created once and used by multiple threads concurrently, as its usage is read-only.
+*   `dictBuffer` can be released after ZSTD_CDict creation, as its content is copied within CDict */
+ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict(const void* dictBuffer, size_t dictSize, int compressionLevel);
+
+/*! ZSTD_freeCDict() :
+*   Function frees memory allocated by ZSTD_createCDict(). */
+ZSTDLIB_API size_t      ZSTD_freeCDict(ZSTD_CDict* CDict);
+
+/*! ZSTD_compress_usingCDict() :
+*   Compression using a digested Dictionary.
+*   Faster startup than ZSTD_compress_usingDict(), recommended when same dictionary is used multiple times.
+*   Note that compression level is decided during dictionary creation. */
+ZSTDLIB_API size_t ZSTD_compress_usingCDict(ZSTD_CCtx* cctx,
+                                            void* dst, size_t dstCapacity,
+                                      const void* src, size_t srcSize,
+                                      const ZSTD_CDict* cdict);
+
+
+typedef struct ZSTD_DDict_s ZSTD_DDict;
+
+/*! ZSTD_createDDict() :
+*   Create a digested dictionary, ready to start decompression operation without startup delay.
+*   dictBuffer can be released after DDict creation, as its content is copied inside DDict */
+ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict(const void* dictBuffer, size_t dictSize);
+
+/*! ZSTD_freeDDict() :
+*   Function frees memory allocated with ZSTD_createDDict() */
+ZSTDLIB_API size_t      ZSTD_freeDDict(ZSTD_DDict* ddict);
+
+/*! ZSTD_decompress_usingDDict() :
+*   Decompression using a digested Dictionary.
+*   Faster startup than ZSTD_decompress_usingDict(), recommended when same dictionary is used multiple times. */
+ZSTDLIB_API size_t ZSTD_decompress_usingDDict(ZSTD_DCtx* dctx,
+                                              void* dst, size_t dstCapacity,
+                                        const void* src, size_t srcSize,
+                                        const ZSTD_DDict* ddict);
+
+
+/****************************
+*  Streaming
+****************************/
+
+typedef struct ZSTD_inBuffer_s {
+  const void* src;    /**< start of input buffer */
+  size_t size;        /**< size of input buffer */
+  size_t pos;         /**< position where reading stopped. Will be updated. Necessarily 0 <= pos <= size */
+} ZSTD_inBuffer;
+
+typedef struct ZSTD_outBuffer_s {
+  void*  dst;         /**< start of output buffer */
+  size_t size;        /**< size of output buffer */
+  size_t pos;         /**< position where writing stopped. Will be updated. Necessarily 0 <= pos <= size */
+} ZSTD_outBuffer;
+
+
+
+/*-***********************************************************************
+*  Streaming compression - HowTo
+*
+*  A ZSTD_CStream object is required to track streaming operation.
+*  Use ZSTD_createCStream() and ZSTD_freeCStream() to create/release resources.
+*  ZSTD_CStream objects can be reused multiple times on consecutive compression operations.
+*  It is recommended to re-use ZSTD_CStream in situations where many streaming operations will be achieved consecutively,
+*  since it will play nicer with system's memory, by re-using already allocated memory.
+*  Use one separate ZSTD_CStream per thread for parallel execution.
+*
+*  Start a new compression by initializing ZSTD_CStream.
+*  Use ZSTD_initCStream() to start a new compression operation.
+*  Use ZSTD_initCStream_usingDict() or ZSTD_initCStream_usingCDict() for a compression which requires a dictionary (experimental section)
+*
+*  Use ZSTD_compressStream() repetitively to consume input stream.
+*  The function will automatically update both `pos` fields.
+*  Note that it may not consume the entire input, in which case `pos < size`,
+*  and it's up to the caller to present again remaining data.
+*  @return : a size hint, preferred nb of bytes to use as input for next function call
+*            or an error code, which can be tested using ZSTD_isError().
+*            Note 1 : it's just a hint, to help latency a little, any other value will work fine.
+*            Note 2 : size hint is guaranteed to be <= ZSTD_CStreamInSize()
+*
+*  At any moment, it's possible to flush whatever data remains within internal buffer, using ZSTD_flushStream().
+*  `output->pos` will be updated.
+*  Note that some content might still be left within internal buffer if `output->size` is too small.
+*  @return : nb of bytes still present within internal buffer (0 if it's empty)
+*            or an error code, which can be tested using ZSTD_isError().
+*
+*  ZSTD_endStream() instructs to finish a frame.
+*  It will perform a flush and write frame epilogue.
+*  The epilogue is required for decoders to consider a frame completed.
+*  Similar to ZSTD_flushStream(), it may not be able to flush the full content if `output->size` is too small.
+*  In which case, call again ZSTD_endStream() to complete the flush.
+*  @return : nb of bytes still present within internal buffer (0 if it's empty, hence compression completed)
+*            or an error code, which can be tested using ZSTD_isError().
+*
+* *******************************************************************/
+
+typedef struct ZSTD_CStream_s ZSTD_CStream;
+ZSTDLIB_API ZSTD_CStream* ZSTD_createCStream(void);
+ZSTDLIB_API size_t ZSTD_freeCStream(ZSTD_CStream* zcs);
+
+ZSTDLIB_API size_t ZSTD_initCStream(ZSTD_CStream* zcs, int compressionLevel);
+ZSTDLIB_API size_t ZSTD_compressStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output, ZSTD_inBuffer* input);
+ZSTDLIB_API size_t ZSTD_flushStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output);
+ZSTDLIB_API size_t ZSTD_endStream(ZSTD_CStream* zcs, ZSTD_outBuffer* output);
+
+ZSTDLIB_API size_t ZSTD_CStreamInSize(void);    /**< recommended size for input buffer */
+ZSTDLIB_API size_t ZSTD_CStreamOutSize(void);   /**< recommended size for output buffer. Guarantee to successfully flush at least one complete compressed block in all circumstances. */
+
+
+
+/*-***************************************************************************
+*  Streaming decompression - HowTo
+*
+*  A ZSTD_DStream object is required to track streaming operations.
+*  Use ZSTD_createDStream() and ZSTD_freeDStream() to create/release resources.
+*  ZSTD_DStream objects can be re-used multiple times.
+*
+*  Use ZSTD_initDStream() to start a new decompression operation,
+*   or ZSTD_initDStream_usingDict() if decompression requires a dictionary.
+*   @return : recommended first input size
+*
+*  Use ZSTD_decompressStream() repetitively to consume your input.
+*  The function will update both `pos` fields.
+*  If `input.pos < input.size`, some input has not been consumed.
+*  It's up to the caller to present again remaining data.
+*  If `output.pos < output.size`, decoder has flushed everything it could.
+*  @return : 0 when a frame is completely decoded and fully flushed,
+*            an error code, which can be tested using ZSTD_isError(),
+*            any other value > 0, which means there is still some decoding to do to complete current frame.
+*            The return value is a suggested next input size (a hint to improve latency) that will never load more than the current frame.
+* *******************************************************************************/
+
+typedef struct ZSTD_DStream_s ZSTD_DStream;
+ZSTDLIB_API ZSTD_DStream* ZSTD_createDStream(void);
+ZSTDLIB_API size_t ZSTD_freeDStream(ZSTD_DStream* zds);
+
+ZSTDLIB_API size_t ZSTD_initDStream(ZSTD_DStream* zds);
+ZSTDLIB_API size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inBuffer* input);
+
+ZSTDLIB_API size_t ZSTD_DStreamInSize(void);    /*!< recommended size for input buffer */
+ZSTDLIB_API size_t ZSTD_DStreamOutSize(void);   /*!< recommended size for output buffer. Guarantee to successfully flush at least one complete block in all circumstances. */
+
+#endif  /* ZSTD_H_235446 */
+
+
+#if defined(ZSTD_STATIC_LINKING_ONLY) && !defined(ZSTD_H_ZSTD_STATIC_LINKING_ONLY)
+#define ZSTD_H_ZSTD_STATIC_LINKING_ONLY
+
+/****************************************************************************************
+ * START OF ADVANCED AND EXPERIMENTAL FUNCTIONS
+ * The definitions in this section are considered experimental.
+ * They should never be used with a dynamic library, as they may change in the future.
+ * They are provided for advanced usages.
+ * Use them only in association with static linking.
+ * ***************************************************************************************/
+
+/* --- Constants ---*/
+#define ZSTD_MAGICNUMBER            0xFD2FB528   /* >= v0.8.0 */
+#define ZSTD_MAGIC_SKIPPABLE_START  0x184D2A50U
+
+#define ZSTD_WINDOWLOG_MAX_32  25
+#define ZSTD_WINDOWLOG_MAX_64  27
+#define ZSTD_WINDOWLOG_MAX    ((U32)(MEM_32bits() ? ZSTD_WINDOWLOG_MAX_32 : ZSTD_WINDOWLOG_MAX_64))
+#define ZSTD_WINDOWLOG_MIN     10
+#define ZSTD_HASHLOG_MAX       ZSTD_WINDOWLOG_MAX
+#define ZSTD_HASHLOG_MIN        6
+#define ZSTD_CHAINLOG_MAX     (ZSTD_WINDOWLOG_MAX+1)
+#define ZSTD_CHAINLOG_MIN      ZSTD_HASHLOG_MIN
+#define ZSTD_HASHLOG3_MAX      17
+#define ZSTD_SEARCHLOG_MAX    (ZSTD_WINDOWLOG_MAX-1)
+#define ZSTD_SEARCHLOG_MIN      1
+#define ZSTD_SEARCHLENGTH_MAX   7   /* only for ZSTD_fast, other strategies are limited to 6 */
+#define ZSTD_SEARCHLENGTH_MIN   3   /* only for ZSTD_btopt, other strategies are limited to 4 */
+#define ZSTD_TARGETLENGTH_MIN   4
+#define ZSTD_TARGETLENGTH_MAX 999
+
+#define ZSTD_FRAMEHEADERSIZE_MAX 18    /* for static allocation */
+#define ZSTD_FRAMEHEADERSIZE_MIN  6
+static const size_t ZSTD_frameHeaderSize_prefix = 5;
+static const size_t ZSTD_frameHeaderSize_min = ZSTD_FRAMEHEADERSIZE_MIN;
+static const size_t ZSTD_frameHeaderSize_max = ZSTD_FRAMEHEADERSIZE_MAX;
+static const size_t ZSTD_skippableHeaderSize = 8;  /* magic number + skippable frame length */
+
+
+/*--- Advanced types ---*/
+typedef enum { ZSTD_fast, ZSTD_dfast, ZSTD_greedy, ZSTD_lazy, ZSTD_lazy2, ZSTD_btlazy2, ZSTD_btopt, ZSTD_btopt2 } ZSTD_strategy;   /* from faster to stronger */
+
+typedef struct {
+    unsigned windowLog;      /**< largest match distance : larger == more compression, more memory needed during decompression */
+    unsigned chainLog;       /**< fully searched segment : larger == more compression, slower, more memory (useless for fast) */
+    unsigned hashLog;        /**< dispatch table : larger == faster, more memory */
+    unsigned searchLog;      /**< nb of searches : larger == more compression, slower */
+    unsigned searchLength;   /**< match length searched : larger == faster decompression, sometimes less compression */
+    unsigned targetLength;   /**< acceptable match size for optimal parser (only) : larger == more compression, slower */
+    ZSTD_strategy strategy;
+} ZSTD_compressionParameters;
+
+typedef struct {
+    unsigned contentSizeFlag; /**< 1: content size will be in frame header (if known). */
+    unsigned checksumFlag;    /**< 1: will generate a 22-bits checksum at end of frame, to be used for error detection by decompressor */
+    unsigned noDictIDFlag;    /**< 1: no dict ID will be saved into frame header (if dictionary compression) */
+} ZSTD_frameParameters;
+
+typedef struct {
+    ZSTD_compressionParameters cParams;
+    ZSTD_frameParameters fParams;
+} ZSTD_parameters;
+
+/*= Custom memory allocation functions */
+typedef void* (*ZSTD_allocFunction) (void* opaque, size_t size);
+typedef void  (*ZSTD_freeFunction) (void* opaque, void* address);
+typedef struct { ZSTD_allocFunction customAlloc; ZSTD_freeFunction customFree; void* opaque; } ZSTD_customMem;
+
+
+/***************************************
+*  Advanced compression functions
+***************************************/
+/*! ZSTD_estimateCCtxSize() :
+ *  Gives the amount of memory allocated for a ZSTD_CCtx given a set of compression parameters.
+ *  `frameContentSize` is an optional parameter, provide `0` if unknown */
+ZSTDLIB_API size_t ZSTD_estimateCCtxSize(ZSTD_compressionParameters cParams);
+
+/*! ZSTD_createCCtx_advanced() :
+ *  Create a ZSTD compression context using external alloc and free functions */
+ZSTDLIB_API ZSTD_CCtx* ZSTD_createCCtx_advanced(ZSTD_customMem customMem);
+
+/*! ZSTD_sizeofCCtx() :
+ *  Gives the amount of memory used by a given ZSTD_CCtx */
+ZSTDLIB_API size_t ZSTD_sizeof_CCtx(const ZSTD_CCtx* cctx);
+
+/*! ZSTD_createCDict_byReference() :
+ *  Create a digested dictionary for compression
+ *  Dictionary content is simply referenced, and therefore stays in dictBuffer.
+ *  It is important that dictBuffer outlives CDict, it must remain read accessible throughout the lifetime of CDict */
+ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict_byReference(const void* dictBuffer, size_t dictSize, int compressionLevel);
+
+/*! ZSTD_createCDict_advanced() :
+ *  Create a ZSTD_CDict using external alloc and free, and customized compression parameters */
+ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict_advanced(const void* dict, size_t dictSize, unsigned byReference,
+                                                  ZSTD_parameters params, ZSTD_customMem customMem);
+
+/*! ZSTD_sizeof_CDict() :
+ *  Gives the amount of memory used by a given ZSTD_sizeof_CDict */
+ZSTDLIB_API size_t ZSTD_sizeof_CDict(const ZSTD_CDict* cdict);
+
+/*! ZSTD_getCParams() :
+*   @return ZSTD_compressionParameters structure for a selected compression level and estimated srcSize.
+*   `estimatedSrcSize` value is optional, select 0 if not known */
+ZSTDLIB_API ZSTD_compressionParameters ZSTD_getCParams(int compressionLevel, unsigned long long estimatedSrcSize, size_t dictSize);
+
+/*! ZSTD_getParams() :
+*   same as ZSTD_getCParams(), but @return a full `ZSTD_parameters` object instead of sub-component `ZSTD_compressionParameters`.
+*   All fields of `ZSTD_frameParameters` are set to default (0) */
+ZSTDLIB_API ZSTD_parameters ZSTD_getParams(int compressionLevel, unsigned long long estimatedSrcSize, size_t dictSize);
+
+/*! ZSTD_checkCParams() :
+*   Ensure param values remain within authorized range */
+ZSTDLIB_API size_t ZSTD_checkCParams(ZSTD_compressionParameters params);
+
+/*! ZSTD_adjustCParams() :
+*   optimize params for a given `srcSize` and `dictSize`.
+*   both values are optional, select `0` if unknown. */
+ZSTDLIB_API ZSTD_compressionParameters ZSTD_adjustCParams(ZSTD_compressionParameters cPar, unsigned long long srcSize, size_t dictSize);
+
+/*! ZSTD_compress_advanced() :
+*   Same as ZSTD_compress_usingDict(), with fine-tune control of each compression parameter */
+ZSTDLIB_API size_t ZSTD_compress_advanced (ZSTD_CCtx* ctx,
+                                           void* dst, size_t dstCapacity,
+                                     const void* src, size_t srcSize,
+                                     const void* dict,size_t dictSize,
+                                           ZSTD_parameters params);
+
+
+/*--- Advanced decompression functions ---*/
+
+/*! ZSTD_isFrame() :
+ *  Tells if the content of `buffer` starts with a valid Frame Identifier.
+ *  Note : Frame Identifier is 4 bytes. If `size < 4`, @return will always be 0.
+ *  Note 2 : Legacy Frame Identifiers are considered valid only if Legacy Support is enabled.
+ *  Note 3 : Skippable Frame Identifiers are considered valid. */
+ZSTDLIB_API unsigned ZSTD_isFrame(const void* buffer, size_t size);
+
+/*! ZSTD_estimateDCtxSize() :
+ *  Gives the potential amount of memory allocated to create a ZSTD_DCtx */
+ZSTDLIB_API size_t ZSTD_estimateDCtxSize(void);
+
+/*! ZSTD_createDCtx_advanced() :
+ *  Create a ZSTD decompression context using external alloc and free functions */
+ZSTDLIB_API ZSTD_DCtx* ZSTD_createDCtx_advanced(ZSTD_customMem customMem);
+
+/*! ZSTD_sizeof_DCtx() :
+ *  Gives the amount of memory used by a given ZSTD_DCtx */
+ZSTDLIB_API size_t ZSTD_sizeof_DCtx(const ZSTD_DCtx* dctx);
+
+/*! ZSTD_createDDict_byReference() :
+ *  Create a digested dictionary, ready to start decompression operation without startup delay.
+ *  Dictionary content is simply referenced, and therefore stays in dictBuffer.
+ *  It is important that dictBuffer outlives DDict, it must remain read accessible throughout the lifetime of DDict */
+ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict_byReference(const void* dictBuffer, size_t dictSize);
+
+ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict_advanced(const void* dict, size_t dictSize,
+                                                  unsigned byReference, ZSTD_customMem customMem);
+
+/*! ZSTD_sizeof_DDict() :
+ *  Gives the amount of memory used by a given ZSTD_DDict */
+ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict);
+
+/*! ZSTD_getDictID_fromDict() :
+ *  Provides the dictID stored within dictionary.
+ *  if @return == 0, the dictionary is not conformant with Zstandard specification.
+ *  It can still be loaded, but as a content-only dictionary. */
+ZSTDLIB_API unsigned ZSTD_getDictID_fromDict(const void* dict, size_t dictSize);
+
+/*! ZSTD_getDictID_fromDDict() :
+ *  Provides the dictID of the dictionary loaded into `ddict`.
+ *  If @return == 0, the dictionary is not conformant to Zstandard specification, or empty.
+ *  Non-conformant dictionaries can still be loaded, but as content-only dictionaries. */
+ZSTDLIB_API unsigned ZSTD_getDictID_fromDDict(const ZSTD_DDict* ddict);
+
+/*! ZSTD_getDictID_fromFrame() :
+ *  Provides the dictID required to decompressed the frame stored within `src`.
+ *  If @return == 0, the dictID could not be decoded.
+ *  This could for one of the following reasons :
+ *  - The frame does not require a dictionary to be decoded (most common case).
+ *  - The frame was built with dictID intentionally removed. Whatever dictionary is necessary is a hidden information.
+ *    Note : this use case also happens when using a non-conformant dictionary.
+ *  - `srcSize` is too small, and as a result, the frame header could not be decoded (only possible if `srcSize < ZSTD_FRAMEHEADERSIZE_MAX`).
+ *  - This is not a Zstandard frame.
+ *  When identifying the exact failure cause, it's possible to used ZSTD_getFrameParams(), which will provide a more precise error code. */
+ZSTDLIB_API unsigned ZSTD_getDictID_fromFrame(const void* src, size_t srcSize);
+
+
+/********************************************************************
+*  Advanced streaming functions
+********************************************************************/
+
+/*=====   Advanced Streaming compression functions  =====*/
+ZSTDLIB_API ZSTD_CStream* ZSTD_createCStream_advanced(ZSTD_customMem customMem);
+ZSTDLIB_API size_t ZSTD_initCStream_srcSize(ZSTD_CStream* zcs, int compressionLevel, unsigned long long pledgedSrcSize);   /**< pledgedSrcSize must be correct */
+ZSTDLIB_API size_t ZSTD_initCStream_usingDict(ZSTD_CStream* zcs, const void* dict, size_t dictSize, int compressionLevel);
+ZSTDLIB_API size_t ZSTD_initCStream_advanced(ZSTD_CStream* zcs, const void* dict, size_t dictSize,
+                                             ZSTD_parameters params, unsigned long long pledgedSrcSize);  /**< pledgedSrcSize is optional and can be zero == unknown */
+ZSTDLIB_API size_t ZSTD_initCStream_usingCDict(ZSTD_CStream* zcs, const ZSTD_CDict* cdict);  /**< note : cdict will just be referenced, and must outlive compression session */
+ZSTDLIB_API size_t ZSTD_resetCStream(ZSTD_CStream* zcs, unsigned long long pledgedSrcSize);  /**< re-use compression parameters from previous init; skip dictionary loading stage; zcs must be init at least once before */
+ZSTDLIB_API size_t ZSTD_sizeof_CStream(const ZSTD_CStream* zcs);
+
+
+/*=====   Advanced Streaming decompression functions  =====*/
+typedef enum { ZSTDdsp_maxWindowSize } ZSTD_DStreamParameter_e;
+ZSTDLIB_API ZSTD_DStream* ZSTD_createDStream_advanced(ZSTD_customMem customMem);
+ZSTDLIB_API size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dict, size_t dictSize);
+ZSTDLIB_API size_t ZSTD_setDStreamParameter(ZSTD_DStream* zds, ZSTD_DStreamParameter_e paramType, unsigned paramValue);
+ZSTDLIB_API size_t ZSTD_initDStream_usingDDict(ZSTD_DStream* zds, const ZSTD_DDict* ddict);  /**< note : ddict will just be referenced, and must outlive decompression session */
+ZSTDLIB_API size_t ZSTD_resetDStream(ZSTD_DStream* zds);  /**< re-use decompression parameters from previous init; saves dictionary loading */
+ZSTDLIB_API size_t ZSTD_sizeof_DStream(const ZSTD_DStream* zds);
+
+
+/*********************************************************************
+*  Buffer-less and synchronous inner streaming functions
+*
+*  This is an advanced API, giving full control over buffer management, for users which need direct control over memory.
+*  But it's also a complex one, with many restrictions (documented below).
+*  Prefer using normal streaming API for an easier experience
+********************************************************************* */
+
+/**
+  Buffer-less streaming compression (synchronous mode)
+
+  A ZSTD_CCtx object is required to track streaming operations.
+  Use ZSTD_createCCtx() / ZSTD_freeCCtx() to manage resource.
+  ZSTD_CCtx object can be re-used multiple times within successive compression operations.
+
+  Start by initializing a context.
+  Use ZSTD_compressBegin(), or ZSTD_compressBegin_usingDict() for dictionary compression,
+  or ZSTD_compressBegin_advanced(), for finer parameter control.
+  It's also possible to duplicate a reference context which has already been initialized, using ZSTD_copyCCtx()
+
+  Then, consume your input using ZSTD_compressContinue().
+  There are some important considerations to keep in mind when using this advanced function :
+  - ZSTD_compressContinue() has no internal buffer. It uses externally provided buffer only.
+  - Interface is synchronous : input is consumed entirely and produce 1+ (or more) compressed blocks.
+  - Caller must ensure there is enough space in `dst` to store compressed data under worst case scenario.
+    Worst case evaluation is provided by ZSTD_compressBound().
+    ZSTD_compressContinue() doesn't guarantee recover after a failed compression.
+  - ZSTD_compressContinue() presumes prior input ***is still accessible and unmodified*** (up to maximum distance size, see WindowLog).
+    It remembers all previous contiguous blocks, plus one separated memory segment (which can itself consists of multiple contiguous blocks)
+  - ZSTD_compressContinue() detects that prior input has been overwritten when `src` buffer overlaps.
+    In which case, it will "discard" the relevant memory section from its history.
+
+  Finish a frame with ZSTD_compressEnd(), which will write the last block(s) and optional checksum.
+  It's possible to use a NULL,0 src content, in which case, it will write a final empty block to end the frame,
+  Without last block mark, frames will be considered unfinished (broken) by decoders.
+
+  You can then reuse `ZSTD_CCtx` (ZSTD_compressBegin()) to compress some new frame.
+*/
+
+/*=====   Buffer-less streaming compression functions  =====*/
+ZSTDLIB_API size_t ZSTD_compressBegin(ZSTD_CCtx* cctx, int compressionLevel);
+ZSTDLIB_API size_t ZSTD_compressBegin_usingDict(ZSTD_CCtx* cctx, const void* dict, size_t dictSize, int compressionLevel);
+ZSTDLIB_API size_t ZSTD_compressBegin_advanced(ZSTD_CCtx* cctx, const void* dict, size_t dictSize, ZSTD_parameters params, unsigned long long pledgedSrcSize);
+ZSTDLIB_API size_t ZSTD_copyCCtx(ZSTD_CCtx* cctx, const ZSTD_CCtx* preparedCCtx, unsigned long long pledgedSrcSize);
+ZSTDLIB_API size_t ZSTD_compressContinue(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+ZSTDLIB_API size_t ZSTD_compressEnd(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+
+
+
+/*-
+  Buffer-less streaming decompression (synchronous mode)
+
+  A ZSTD_DCtx object is required to track streaming operations.
+  Use ZSTD_createDCtx() / ZSTD_freeDCtx() to manage it.
+  A ZSTD_DCtx object can be re-used multiple times.
+
+  First typical operation is to retrieve frame parameters, using ZSTD_getFrameParams().
+  It fills a ZSTD_frameParams structure which provide important information to correctly decode the frame,
+  such as the minimum rolling buffer size to allocate to decompress data (`windowSize`),
+  and the dictionary ID used.
+  (Note : content size is optional, it may not be present. 0 means : content size unknown).
+  Note that these values could be wrong, either because of data malformation, or because an attacker is spoofing deliberate false information.
+  As a consequence, check that values remain within valid application range, especially `windowSize`, before allocation.
+  Each application can set its own limit, depending on local restrictions. For extended interoperability, it is recommended to support at least 8 MB.
+  Frame parameters are extracted from the beginning of the compressed frame.
+  Data fragment must be large enough to ensure successful decoding, typically `ZSTD_frameHeaderSize_max` bytes.
+  @result : 0 : successful decoding, the `ZSTD_frameParams` structure is correctly filled.
+           >0 : `srcSize` is too small, please provide at least @result bytes on next attempt.
+           errorCode, which can be tested using ZSTD_isError().
+
+  Start decompression, with ZSTD_decompressBegin() or ZSTD_decompressBegin_usingDict().
+  Alternatively, you can copy a prepared context, using ZSTD_copyDCtx().
+
+  Then use ZSTD_nextSrcSizeToDecompress() and ZSTD_decompressContinue() alternatively.
+  ZSTD_nextSrcSizeToDecompress() tells how many bytes to provide as 'srcSize' to ZSTD_decompressContinue().
+  ZSTD_decompressContinue() requires this _exact_ amount of bytes, or it will fail.
+
+  @result of ZSTD_decompressContinue() is the number of bytes regenerated within 'dst' (necessarily <= dstCapacity).
+  It can be zero, which is not an error; it just means ZSTD_decompressContinue() has decoded some metadata item.
+  It can also be an error code, which can be tested with ZSTD_isError().
+
+  ZSTD_decompressContinue() needs previous data blocks during decompression, up to `windowSize`.
+  They should preferably be located contiguously, prior to current block.
+  Alternatively, a round buffer of sufficient size is also possible. Sufficient size is determined by frame parameters.
+  ZSTD_decompressContinue() is very sensitive to contiguity,
+  if 2 blocks don't follow each other, make sure that either the compressor breaks contiguity at the same place,
+  or that previous contiguous segment is large enough to properly handle maximum back-reference.
+
+  A frame is fully decoded when ZSTD_nextSrcSizeToDecompress() returns zero.
+  Context can then be reset to start a new decompression.
+
+  Note : it's possible to know if next input to present is a header or a block, using ZSTD_nextInputType().
+  This information is not required to properly decode a frame.
+
+  == Special case : skippable frames ==
+
+  Skippable frames allow integration of user-defined data into a flow of concatenated frames.
+  Skippable frames will be ignored (skipped) by a decompressor. The format of skippable frames is as follows :
+  a) Skippable frame ID - 4 Bytes, Little endian format, any value from 0x184D2A50 to 0x184D2A5F
+  b) Frame Size - 4 Bytes, Little endian format, unsigned 32-bits
+  c) Frame Content - any content (User Data) of length equal to Frame Size
+  For skippable frames ZSTD_decompressContinue() always returns 0.
+  For skippable frames ZSTD_getFrameParams() returns fparamsPtr->windowLog==0 what means that a frame is skippable.
+  It also returns Frame Size as fparamsPtr->frameContentSize.
+*/
+
+typedef struct {
+    unsigned long long frameContentSize;
+    unsigned windowSize;
+    unsigned dictID;
+    unsigned checksumFlag;
+} ZSTD_frameParams;
+
+/*=====   Buffer-less streaming decompression functions  =====*/
+ZSTDLIB_API size_t ZSTD_getFrameParams(ZSTD_frameParams* fparamsPtr, const void* src, size_t srcSize);   /**< doesn't consume input, see details below */
+ZSTDLIB_API size_t ZSTD_decompressBegin(ZSTD_DCtx* dctx);
+ZSTDLIB_API size_t ZSTD_decompressBegin_usingDict(ZSTD_DCtx* dctx, const void* dict, size_t dictSize);
+ZSTDLIB_API void   ZSTD_copyDCtx(ZSTD_DCtx* dctx, const ZSTD_DCtx* preparedDCtx);
+ZSTDLIB_API size_t ZSTD_nextSrcSizeToDecompress(ZSTD_DCtx* dctx);
+ZSTDLIB_API size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+typedef enum { ZSTDnit_frameHeader, ZSTDnit_blockHeader, ZSTDnit_block, ZSTDnit_lastBlock, ZSTDnit_checksum, ZSTDnit_skippableFrame } ZSTD_nextInputType_e;
+ZSTDLIB_API ZSTD_nextInputType_e ZSTD_nextInputType(ZSTD_DCtx* dctx);
+
+/**
+    Block functions
+
+    Block functions produce and decode raw zstd blocks, without frame metadata.
+    Frame metadata cost is typically ~18 bytes, which can be non-negligible for very small blocks (< 100 bytes).
+    User will have to take in charge required information to regenerate data, such as compressed and content sizes.
+
+    A few rules to respect :
+    - Compressing and decompressing require a context structure
+      + Use ZSTD_createCCtx() and ZSTD_createDCtx()
+    - It is necessary to init context before starting
+      + compression : ZSTD_compressBegin()
+      + decompression : ZSTD_decompressBegin()
+      + variants _usingDict() are also allowed
+      + copyCCtx() and copyDCtx() work too
+    - Block size is limited, it must be <= ZSTD_getBlockSizeMax()
+      + If you need to compress more, cut data into multiple blocks
+      + Consider using the regular ZSTD_compress() instead, as frame metadata costs become negligible when source size is large.
+    - When a block is considered not compressible enough, ZSTD_compressBlock() result will be zero.
+      In which case, nothing is produced into `dst`.
+      + User must test for such outcome and deal directly with uncompressed data
+      + ZSTD_decompressBlock() doesn't accept uncompressed data as input !!!
+      + In case of multiple successive blocks, decoder must be informed of uncompressed block existence to follow proper history.
+        Use ZSTD_insertBlock() in such a case.
+*/
+
+#define ZSTD_BLOCKSIZE_ABSOLUTEMAX (128 * 1024)   /* define, for static allocation */
+/*=====   Raw zstd block functions  =====*/
+ZSTDLIB_API size_t ZSTD_getBlockSizeMax(ZSTD_CCtx* cctx);
+ZSTDLIB_API size_t ZSTD_compressBlock  (ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+ZSTDLIB_API size_t ZSTD_decompressBlock(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize);
+ZSTDLIB_API size_t ZSTD_insertBlock(ZSTD_DCtx* dctx, const void* blockStart, size_t blockSize);  /**< insert block into `dctx` history. Useful for uncompressed blocks */
+
+
+#endif   /* ZSTD_H_ZSTD_STATIC_LINKING_ONLY */
+
+#if defined (__cplusplus)
+}
+#endif

src/LiveScanClient/calibration.cpp

@@ -17,7 +17,7 @@
 #include "Kinect.h"
 #include "opencv\cv.h"
 
-
+#include <fstream>
 
 Calibration::Calibration()
 {
@@ -25,6 +25,13 @@ Calibration::Calibration()
 	nSampleCounter = 0;
 	nRequiredSamples = 20;
 
+	worldT = vector<float>(3, 0.0f);
+	for (int i = 0; i < 3; i++)
+	{
+		worldR.push_back(vector<float>(3, 0.0f));
+		worldR[i][i] = 1.0f;
+	}
+
 	pDetector = new MarkerDetector();
 }
 
@@ -102,17 +109,10 @@ bool Calibration::Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColo
 		}
 	}
 
-	cameraR = worldR;
-	cameraT = RotatePoint(worldT, cameraR);
-
 	vector<float> translationIncr(3);
 	translationIncr[0] = markerPose.t[0];
 	translationIncr[1] = markerPose.t[1];
-	translationIncr[2] = markerPose.t[2];
+	translationIncr[2] = markerPose.t[2];;
-
-	cameraT[0] += translationIncr[0];
-	cameraT[1] += translationIncr[1];
-	cameraT[2] += translationIncr[2];
 
 	translationIncr = InverseRotatePoint(translationIncr, worldR);
 
@@ -125,9 +125,50 @@ bool Calibration::Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColo
 	marker3DSamples.clear();
 	nSampleCounter = 0;
 
+	SaveCalibration();
+
 	return true;
 }
 
+bool Calibration::LoadCalibration()
+{
+	ifstream file;
+	file.open("calibration.txt");
+	if (!file.is_open())
+		return false;
+
+	for (int i = 0; i < 3; i++)
+		file >> worldT[i];
+	for (int i = 0; i < 3; i++)
+	{
+		for (int j = 0; j < 3; j++)
+			file >> worldR[i][j];
+	}
+	file >> iUsedMarkerId;
+	file >> bCalibrated;
+
+	return true;
+}
+
+void Calibration::SaveCalibration()
+{
+	ofstream file;
+	file.open("calibration.txt");
+	for (int i = 0; i < 3; i++)
+		file << worldT[i] << " ";
+	file << endl;
+	for (int i = 0; i < 3; i++)
+	{
+		for (int j = 0; j < 3; j++)
+			file << worldR[i][j];
+		file << endl;
+	}
+	file << iUsedMarkerId << endl;
+	file << bCalibrated << endl;
+
+	file.close();
+}
+
 void Calibration::Procrustes(MarkerInfo &marker, vector<Point3f> &markerInWorld, vector<float> &worldToMarkerT, vector<vector<float>> &worldToMarkerR)
 {
 	int nVertices = marker.points.size();
@@ -232,8 +273,6 @@ bool Calibration::GetMarkerCorners3D(vector<Point3f> &marker3D, MarkerInfo &mark
 	return true;
 }
 
-
-
 vector<float> InverseRotatePoint(vector<float> &point, std::vector<std::vector<float>> &R)
 {
 	vector<float> res(3);

src/LiveScanClient/frameFileWriterReader.cpp

@@ -0,0 +1,109 @@
+#include "frameFileWriterReader.h"
+
+#include <ctime>
+
+FrameFileWriterReader::FrameFileWriterReader()
+{
+
+}
+
+void FrameFileWriterReader::closeFileIfOpened()
+{
+	if (m_pFileHandle == nullptr)
+		return;
+
+	fclose(m_pFileHandle);
+	m_pFileHandle = nullptr; 
+	m_bFileOpenedForReading = false;
+	m_bFileOpenedForWriting = false;
+}
+
+void FrameFileWriterReader::resetTimer()
+{
+	recording_start_time = std::chrono::steady_clock::now();
+}
+
+int FrameFileWriterReader::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 FrameFileWriterReader::openCurrentFileForReading()
+{
+	closeFileIfOpened();
+
+	m_pFileHandle = fopen(m_sFilename.c_str(), "rb");
+
+	m_bFileOpenedForReading = true;
+	m_bFileOpenedForWriting = false;
+}
+
+void FrameFileWriterReader::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 + 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");
+
+	m_bFileOpenedForReading = false;
+	m_bFileOpenedForWriting = true;
+
+	resetTimer();
+}
+
+bool FrameFileWriterReader::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 FrameFileWriterReader::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");
+}
+
+FrameFileWriterReader::~FrameFileWriterReader()
+{
+	closeFileIfOpened();
+}

src/LiveScanClient/kinectCapture.cpp

@@ -99,6 +99,7 @@ bool KinectCapture::AcquireFrame()
 	GetBodyFrame(pMultiFrame);
 	GetBodyIndexFrame(pMultiFrame);
 
+	SafeRelease(pMultiFrame);
 
 	return true;
 }
@@ -202,7 +203,12 @@ void KinectCapture::GetBodyFrame(IMultiSourceFrame* pMultiFrame)
 				bodies[i]->GetJoints(JointType_Count, joints);
 
 				vBodies[i].vJoints.assign(joints, joints + JointType_Count);
-				vBodies[i].bTracked = isTracked;
+
+				if (isTracked == TRUE)
+					vBodies[i].bTracked = true;
+				else
+					vBodies[i].bTracked = false;
+
 				vBodies[i].vJointsInColorSpace.resize(JointType_Count);
 
 				for (int j = 0; j < JointType_Count; j++)

src/LiveScanClient/liveScanClient.cpp

@@ -19,6 +19,7 @@
 #include <chrono>
 #include <strsafe.h>
 #include <fstream>
+#include "zstd.h"
 
 std::mutex m_mSocketThreadMutex;
 
@@ -57,6 +58,8 @@ LiveScanClient::LiveScanClient() :
 	m_bConfirmCalibrated(false),
 	m_bShowDepth(false),
 	m_bSocketThread(true),
+	m_bFrameCompression(true),
+	m_iCompressionLevel(2),
 	m_pClientSocket(NULL),
 	m_nFilterNeighbors(10),
 	m_fFilterThreshold(0.01f)
@@ -75,6 +78,8 @@ LiveScanClient::LiveScanClient() :
 	m_vBounds.push_back(0.5);
 	m_vBounds.push_back(0.5);
 	m_vBounds.push_back(0.5);
+
+	calibration.LoadCalibration();
 }
   
 LiveScanClient::~LiveScanClient()
@@ -130,7 +135,7 @@ int LiveScanClient::Run(HINSTANCE hInstance, int nCmdShow)
     MSG       msg = {0};
     WNDCLASS  wc;
 
-    // Dialog custom window class
+	// Dialog custom window class
     ZeroMemory(&wc, sizeof(wc));
     wc.style         = CS_HREDRAW | CS_VREDRAW;
     wc.cbWndExtra    = DLGWINDOWEXTRA;
@@ -180,6 +185,8 @@ int LiveScanClient::Run(HINSTANCE hInstance, int nCmdShow)
     return static_cast<int>(msg.wParam);
 }
 
+
+
 void LiveScanClient::UpdateFrame()
 {
 	if (!pCapture->bInitialized)
@@ -200,8 +207,7 @@ void LiveScanClient::UpdateFrame()
 
 		if (m_bCaptureFrame)
 		{
-			m_vGatheredVertices.push_back(m_vLastFrameVertices);
+			m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB);
-			m_vGatheredRGBPoints.push_back(m_vLastFrameRGB);
 			m_bConfirmCaptured = true;
 			m_bCaptureFrame = false;
 		}
@@ -323,8 +329,6 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
 				}
 				else
 				{
-					m_vGatheredVertices.clear();
-					m_vGatheredRGBPoints.clear();
 					try
 					{
 						char address[20];
@@ -332,6 +336,9 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
 						m_pClientSocket = new SocketClient(address, 48001);
 
 						m_bConnected = true;
+						if (calibration.bCalibrated)
+							m_bConfirmCalibrated = true;
+
 						SetDlgItemTextA(m_hWnd, IDC_BUTTON_CONNECT, "Disconnect");
 						//Clear the status bar so that the "Failed to connect..." disappears.
 						SetStatusMessage(L"", 1, true);
@@ -499,10 +506,13 @@ void LiveScanClient::HandleSocket()
 			}
 
 			m_bStreamOnlyBodies = (received[i] != 0);
-			i++;
+			i += 1;
 
-			//so that we do not lose the next character in the stream
+			m_iCompressionLevel = *(int*)(received.c_str() + i);
-			i--;
+			if (m_iCompressionLevel > 0)
+				m_bFrameCompression = true;
+			else
+				m_bFrameCompression = false;
 		}
 		//send stored frame
 		else if (received[i] == MSG_REQUEST_STORED_FRAME)
@@ -510,18 +520,15 @@ void LiveScanClient::HandleSocket()
 			byteToSend = MSG_STORED_FRAME;
 			m_pClientSocket->SendBytes(&byteToSend, 1);
 
-			if (m_vGatheredRGBPoints.size() > 0)
+			vector<Point3s> points;
-			{
+			vector<RGB> colors; 
-				SendFrame(m_vGatheredVertices[0], m_vGatheredRGBPoints[0], m_vLastFrameBody);
+			bool res = m_framesFileWriterReader.readFrame(points, colors);
-
+			if (res == false)
-				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);
-			}
+			} else
+				SendFrame(points, colors, m_vLastFrameBody);
 		}
 		//send last frame
 		else if (received[i] == MSG_REQUEST_LAST_FRAME)
@@ -549,27 +556,12 @@ void LiveScanClient::HandleSocket()
 				i += sizeof(float);
 			}
 
-			for (int j = 0; j < 3; j++)
-			{
-				for (int k = 0; k < 3; k++)
-				{
-					calibration.cameraR[j][k] = *(float*)(received.c_str() + i);
-					i += sizeof(float);
-				}
-			}
-			for (int j = 0; j < 3; j++)
-			{
-				calibration.cameraT[j] = *(float*)(received.c_str() + i);
-				i += sizeof(float);
-			}
-
 			//so that we do not lose the next character in the stream
 			i--;
 		}
 		else if (received[i] == MSG_CLEAR_STORED_FRAMES)
 		{
-			m_vGatheredVertices.clear();
+			m_framesFileWriterReader.closeFileIfOpened();
-			m_vGatheredRGBPoints.clear();
 		}
 	}
 
@@ -582,7 +574,7 @@ void LiveScanClient::HandleSocket()
 
 	if (m_bConfirmCalibrated)
 	{
-		int size = 2 * (9 + 3) * sizeof(float) + sizeof(int) + 1;
+		int size = (9 + 3) * sizeof(float) + sizeof(int) + 1;
 		char *buffer = new char[size];
 		buffer[0] = MSG_CONFIRM_CALIBRATED;
 		int i = 1;
@@ -598,14 +590,6 @@ void LiveScanClient::HandleSocket()
 		memcpy(buffer + i, calibration.worldT.data(), 3 * sizeof(float));
 		i += 3 * sizeof(float);
 
-		memcpy(buffer + i, calibration.cameraR[0].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraR[1].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraR[2].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraT.data(), 3 * sizeof(float));
-
 		m_pClientSocket->SendBytes(buffer, size);
 		m_bConfirmCalibrated = false;
 	}
@@ -629,12 +613,11 @@ 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;
 	}
-
+	
 	int nBodies = body.size();
 	size += sizeof(nBodies);
 	for (int i = 0; i < nBodies; i++)
@@ -682,9 +665,24 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
 		}
 	}
 
-	m_pClientSocket->SendBytes((char*)&size, sizeof(int));
+	int iCompression = static_cast<int>(m_bFrameCompression);
-	m_pClientSocket->SendBytes(buffer.data(), size);
 
+	if (m_bFrameCompression)
+	{
+		// *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;	
+		vector<char> compressedBuffer(cBuffSize);
+		int cSize = ZSTD_compress(compressedBuffer.data(), cBuffSize, buffer.data(), size, m_iCompressionLevel);
+		size = cSize; 
+		buffer = compressedBuffer;
+	}
+	char header[8];
+	memcpy(header, (char*)&size, sizeof(size));
+	memcpy(header + 4, (char*)&iCompression, sizeof(iCompression));
+
+	m_pClientSocket->SendBytes((char*)&header, sizeof(int) * 2);
+	m_pClientSocket->SendBytes(buffer.data(), size);
 }
 
 void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex)