// Copyright (C) 2015 Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl) // License: MIT Software License See LICENSE.txt for the full license. // If you use this software in your research, then please use the following citation: // Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data // Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015 // @INPROCEEDINGS{Kowalski15, // author={Kowalski, M. and Naruniec, J. and Daniluk, M.}, // booktitle={3D Vision (3DV), 2015 International Conference on}, // title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors}, // year={2015}, // } 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.Globalization; namespace KinectServer { public partial class SettingsForm : Form { public KinectSettings oSettings; public KinectServer oServer; bool bFormLoaded = false; public SettingsForm() { InitializeComponent(); } private void SettingsForm_Load(object sender, EventArgs e) { txtMinX.Text = oSettings.aMinBounds[0].ToString(CultureInfo.InvariantCulture); txtMinY.Text = oSettings.aMinBounds[1].ToString(CultureInfo.InvariantCulture); txtMinZ.Text = oSettings.aMinBounds[2].ToString(CultureInfo.InvariantCulture); txtMaxX.Text = oSettings.aMaxBounds[0].ToString(CultureInfo.InvariantCulture); txtMaxY.Text = oSettings.aMaxBounds[1].ToString(CultureInfo.InvariantCulture); txtMaxZ.Text = oSettings.aMaxBounds[2].ToString(CultureInfo.InvariantCulture); chFilter.Checked = oSettings.bFilter; txtFilterNeighbors.Text = oSettings.nFilterNeighbors.ToString(); txtFilterDistance.Text = oSettings.fFilterThreshold.ToString(CultureInfo.InvariantCulture); lisMarkers.DataSource = oSettings.lMarkerPoses; 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(); chSync.Checked = oSettings.bEnableSync; if (oSettings.bSaveAsBinaryPLY) { rBinaryPly.Checked = true; rAsciiPly.Checked = false; } else { rBinaryPly.Checked = false; rAsciiPly.Checked = true; } bFormLoaded = true; } void UpdateClients() { if (bFormLoaded) { oServer.SendSettings(); oServer.SendTemporalSyncData(); } } void UpdateMarkerFields() { if (lisMarkers.SelectedIndex >= 0) { MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; float X, Y, Z; pose.GetOrientation(out X, out Y, out Z); txtOrientationX.Text = X.ToString(CultureInfo.InvariantCulture); txtOrientationY.Text = Y.ToString(CultureInfo.InvariantCulture); txtOrientationZ.Text = Z.ToString(CultureInfo.InvariantCulture); txtTranslationX.Text = pose.pose.t[0].ToString(CultureInfo.InvariantCulture); txtTranslationY.Text = pose.pose.t[1].ToString(CultureInfo.InvariantCulture); txtTranslationZ.Text = pose.pose.t[2].ToString(CultureInfo.InvariantCulture); txtId.Text = pose.id.ToString(CultureInfo.InvariantCulture); } else { txtOrientationX.Text = ""; txtOrientationY.Text = ""; txtOrientationZ.Text = ""; txtTranslationX.Text = ""; txtTranslationY.Text = ""; txtTranslationZ.Text = ""; txtId.Text = ""; } } private void txtMinX_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMinX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[0]); UpdateClients(); } private void txtMinY_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMinY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[1]); UpdateClients(); } private void txtMinZ_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMinZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[2]); UpdateClients(); } private void txtMaxX_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMaxX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[0]); UpdateClients(); } private void txtMaxY_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMaxY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[1]); UpdateClients(); } private void txtMaxZ_TextChanged(object sender, EventArgs e) { Single.TryParse(txtMaxZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[2]); UpdateClients(); } private void chFilter_CheckedChanged(object sender, EventArgs e) { oSettings.bFilter = chFilter.Checked; UpdateClients(); } private void txtFilterNeighbors_TextChanged(object sender, EventArgs e) { Int32.TryParse(txtFilterNeighbors.Text, out oSettings.nFilterNeighbors); UpdateClients(); } private void txtFilterDistance_TextChanged(object sender, EventArgs e) { Single.TryParse(txtFilterDistance.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.fFilterThreshold); UpdateClients(); } private void txtICPIters_TextChanged(object sender, EventArgs e) { Int32.TryParse(txtICPIters.Text, out oSettings.nNumICPIterations); } private void txtRefinIters_TextChanged(object sender, EventArgs e) { Int32.TryParse(txtRefinIters.Text, out oSettings.nNumRefineIters); } private void chMerge_CheckedChanged(object sender, EventArgs e) { oSettings.bMergeScansForSave = chMerge.Checked; } private void btAdd_Click(object sender, EventArgs e) { lock (oSettings) oSettings.lMarkerPoses.Add(new MarkerPose()); lisMarkers.SelectedIndex = oSettings.lMarkerPoses.Count - 1; UpdateMarkerFields(); UpdateClients(); } private void btRemove_Click(object sender, EventArgs e) { if (oSettings.lMarkerPoses.Count > 0) { oSettings.lMarkerPoses.RemoveAt(lisMarkers.SelectedIndex); lisMarkers.SelectedIndex = oSettings.lMarkerPoses.Count - 1; UpdateMarkerFields(); UpdateClients(); } } private void lisMarkers_SelectedIndexChanged(object sender, EventArgs e) { UpdateMarkerFields(); } private void txtOrientationX_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; float X, Y, Z; pose.GetOrientation(out X, out Y, out Z); Single.TryParse(txtOrientationX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out X); pose.SetOrientation(X, Y, Z); UpdateClients(); } } private void txtOrientationY_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; float X, Y, Z; pose.GetOrientation(out X, out Y, out Z); Single.TryParse(txtOrientationY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Y); pose.SetOrientation(X, Y, Z); UpdateClients(); } } private void txtOrientationZ_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; float X, Y, Z; pose.GetOrientation(out X, out Y, out Z); Single.TryParse(txtOrientationZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Z); pose.SetOrientation(X, Y, Z); UpdateClients(); } } private void txtTranslationX_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { float X; MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; Single.TryParse(txtTranslationX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out X); pose.pose.t[0] = X; UpdateClients(); } } private void txtTranslationY_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { float Y; MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; Single.TryParse(txtTranslationY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Y); pose.pose.t[1] = Y; UpdateClients(); } } private void txtTranslationZ_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { float Z; MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; Single.TryParse(txtTranslationZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Z); pose.pose.t[2] = Z; UpdateClients(); } } private void txtId_TextChanged(object sender, EventArgs e) { if (lisMarkers.SelectedIndex >= 0) { int id; MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex]; Int32.TryParse(txtId.Text, out id); pose.id = id; UpdateClients(); } } private void chBodyData_CheckedChanged(object sender, EventArgs e) { oSettings.bStreamOnlyBodies = chBodyData.Checked; UpdateClients(); } private void PlyFormat_CheckedChanged(object sender, EventArgs e) { if (rAsciiPly.Checked) { oSettings.bSaveAsBinaryPLY = false; } else { oSettings.bSaveAsBinaryPLY = true; } } private void chSkeletons_CheckedChanged(object sender, EventArgs e) { 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(); } private void chSync_CheckedChanged(object sender, EventArgs e) { oSettings.bEnableSync = chSync.Checked; UpdateClients(); } } }