public OptiTrackCamera(OptiTrackCamera newCamera)
{
cameraNumber = newCamera.CameraNumber;
x = newCamera.xCoordinate;
y = newCamera.yCoordinate;
z = newCamera.zCoordinate;
for (int i = 0; i < 9; i++)
{
rotationMatrix[i] = newCamera.rotationMatrix[i];
}
}
public static void UpdateCameraInList(OptiTrackCamera camera)
{
listOfCameras[camera.CameraNumber].CameraNumber = camera.CameraNumber;
listOfCameras[camera.CameraNumber].xCoordinate = camera.xCoordinate;
listOfCameras[camera.CameraNumber].yCoordinate = camera.yCoordinate;
listOfCameras[camera.CameraNumber].zCoordinate = camera.zCoordinate;
for (int i = 0; i < 9; i++)
{
listOfCameras[camera.CameraNumber].RotationMatrix[i] = camera.RotationMatrix[i];
}
}
public OptiTrackCamera(OptiTrackCamera newCamera)
{
cameraNumber = newCamera.CameraNumber;
x = newCamera.xCoordinate;
y = newCamera.yCoordinate;
z = newCamera.zCoordinate;
for (int i = 0; i < 9; i++)
{
rotationMatrix[i] = newCamera.rotationMatrix[i];
}
}
public static void UpdateCameraInList(OptiTrackCamera camera)
{
listOfCameras[camera.CameraNumber].CameraNumber = camera.CameraNumber;
listOfCameras[camera.CameraNumber].xCoordinate = camera.xCoordinate;
listOfCameras[camera.CameraNumber].yCoordinate = camera.yCoordinate;
listOfCameras[camera.CameraNumber].zCoordinate = camera.zCoordinate;
for (int i = 0; i < 9; i++)
{
listOfCameras[camera.CameraNumber].RotationMatrix[i] = camera.RotationMatrix[i];
}
}
public static void AddCamera(OptiTrackCamera camera)
{
bool cameraFound = false;
foreach (OptiTrackCamera currentCamera in listOfCameras)
{
if (camera.CameraNumber == currentCamera.CameraNumber)
{
cameraFound = true;
if (currentCamera.CameraNumber != -1)
{
UpdateCameraInList(currentCamera);
}
}
}
if (cameraFound == false)
{
listOfCameras.Add(new OptiTrackCamera(camera));
}
}
public static void UpdateCameraList()
{
int numberOfCameras = pointcloud.CameraCount;
OptiTrackCamera camera = new OptiTrackCamera();
double[] tempRotationMatrix = new double[9];
for (int i = 0; i < numberOfCameras; i++)
{
camera.CameraNumber = i;
camera.xCoordinate = pointcloud.GetCamera(i).X * 1000;
camera.yCoordinate = pointcloud.GetCamera(i).Y * 1000;
camera.zCoordinate = pointcloud.GetCamera(i).Z * 1000;
for (int j = 0; j < 9; j++)
{
tempRotationMatrix[j] = pointcloud.GetCamera(i).GetRotationMatrix(j);
}
camera.RotationMatrix = tempRotationMatrix;
OptitrackCameraList.AddCamera(camera);
}
}
public static void AddCamera(OptiTrackCamera camera)
{
bool cameraFound = false;
foreach (OptiTrackCamera currentCamera in listOfCameras)
{
if (camera.CameraNumber == currentCamera.CameraNumber)
{
cameraFound = true;
if (currentCamera.CameraNumber != -1)
{
UpdateCameraInList(currentCamera);
}
}
}
if (cameraFound == false)
{
listOfCameras.Add(new OptiTrackCamera(camera));
}
}
/// <summary>
/// Transmits a camera to the current tcpClient
/// </summary>
/// <param name="camera"></param>
public void Transmit(OptiTrackCamera camera)
{
lock (m_lock)
{
MotionCapture.CoordinatesAvailableEvent -= new MotionCapture.CoordinatesAvailableHandler(MotionCapture_CoordinatesAvailableEvent);
//if there is a client connection
if (clientConnectionList.Count != 0)
{
//and if the client is connected
if (clientConnectionList[0].Connected == true)
{
foreach (TcpClient singleClientConnection in clientConnectionList)
{
BinaryWriter binaryWriter = new BinaryWriter(new BufferedStream(singleClientConnection.GetStream()));
binaryWriter.Write('C');
binaryWriter.Write(camera.CameraNumber);
binaryWriter.Write(camera.xCoordinate);
binaryWriter.Write(camera.yCoordinate);
binaryWriter.Write(camera.zCoordinate);
double[] rotationMatrixBuffer = camera.RotationMatrix;
System.Diagnostics.Debug.WriteLine("Camera rotation matrix: ");
for (int i = 0; i < 9; i++)
{
System.Diagnostics.Debug.WriteLine(rotationMatrixBuffer[i].ToString());
binaryWriter.Write(rotationMatrixBuffer[i]);
}
binaryWriter.Flush();
}
}
}
MotionCapture.CoordinatesAvailableEvent += new MotionCapture.CoordinatesAvailableHandler(MotionCapture_CoordinatesAvailableEvent);
}
}
public static void UpdateCameraList()
{
int numberOfCameras = pointcloud.CameraCount;
OptiTrackCamera camera = new OptiTrackCamera();
double[] tempRotationMatrix = new double[9];
for (int i = 0; i < numberOfCameras; i++)
{
camera.CameraNumber = i;
camera.xCoordinate = pointcloud.GetCamera(i).X * 1000;
camera.yCoordinate = pointcloud.GetCamera(i).Y * 1000;
camera.zCoordinate = pointcloud.GetCamera(i).Z * 1000;
for (int j = 0; j < 9; j++)
{
tempRotationMatrix[j] = pointcloud.GetCamera(i).GetRotationMatrix(j);
}
camera.RotationMatrix = tempRotationMatrix;
OptitrackCameraList.AddCamera(camera);
}
}
private void OptitrackCameraList_TransmitCameraEvent(OptiTrackCamera camera)
{
Transmit(camera);
}
private static void HandleDataFromServer(object client)
{
TcpClient serverConnection = (TcpClient)client;
//NetworkStream serverStream = serverConnection.GetStream();
Marker receivedMarker = new Marker();
OptiTrackCamera receivedCamera = new OptiTrackCamera();
BinaryReader binaryReader = new BinaryReader(new BufferedStream(serverConnection.GetStream()));
int bytesRead;
while (true)
{
bytesRead = 0;
bool readTimestamp = false;
try
{
//blocks until a client sends a message
char messageType = binaryReader.ReadChar();
bytesRead = 1;
switch (messageType)
{
case 'M':
receivedMarker.MarkerId = binaryReader.ReadInt32();
//if have been sent End of Frame indication
//TimeStamp field of End of Frame Indicator contains number of markers in the frame
//ie. receivedMarker.TimeStamp = number of markers in list
if (receivedMarker.MarkerId == -2147483648)
{
receivedMarker.TimeStamp = binaryReader.ReadInt32();
readTimestamp = true;
MarkerList.RemoveExcessMarkersFromList(receivedMarker.TimeStamp);
//MarkerList.MarkerBinList();
if (WholeFrameReceivedEvent != null)
{
WholeFrameReceivedEvent();
}
}
if (readTimestamp == false)
{
receivedMarker.TimeStamp = binaryReader.ReadInt32();
}
receivedMarker.xCoordinate = binaryReader.ReadDouble();
receivedMarker.yCoordinate = binaryReader.ReadDouble();
receivedMarker.zCoordinate = binaryReader.ReadDouble();
bytesRead = 36;
if (receivedMarker.MarkerId != -2147483648)
{
MarkerList.AddMarker(receivedMarker);
}
break;
case 'C':
receivedCamera.CameraNumber = binaryReader.ReadInt32();
receivedCamera.xCoordinate = binaryReader.ReadDouble();
receivedCamera.yCoordinate = binaryReader.ReadDouble();
receivedCamera.zCoordinate = binaryReader.ReadDouble();
double[] rotationMatrixBuffer = new double[9];
for (int i = 0; i < 9; i++)
{
rotationMatrixBuffer[i] = binaryReader.ReadDouble();
}
receivedCamera.RotationMatrix = rotationMatrixBuffer;
bytesRead = 108;
OptitrackCameraList.AddCamera(receivedCamera);
break;
case 'T':
if (AvatarSpeedChangedEvent != null)
{
AvatarSpeedChangedEvent((float)binaryReader.ReadDouble());
bytesRead = 8;
}
else
{
binaryReader.ReadDouble();
bytesRead = 8;
}
break;
default:
System.Diagnostics.Debug.WriteLine("A transmit error has occured. " + messageType.ToString() + " recieved");
bytesRead = 5;
break;
}
}
catch (System.IO.IOException)
{
// a socket error has occured
System.Diagnostics.Debug.WriteLine("Socket error has occured in TCPServer.HandleClientComm");
break;
}
if (bytesRead == 0)
{
// the client has disconnected from the server
System.Diagnostics.Debug.WriteLine("The client has disconnected from the server");
break;
}
//else message has been successfully recieved
//OptitrackCommandParser commandParser = new OptitrackCommandParser();
//commandParser.handleCommand(recievedCommand[0]);
}
}
private void OptitrackCameraList_TransmitCameraEvent(OptiTrackCamera camera)
{
Transmit(camera);
}
/// <summary>
/// Transmits a camera to the current tcpClient
/// </summary>
/// <param name="camera"></param>
public void Transmit(OptiTrackCamera camera)
{
lock (m_lock)
{
MotionCapture.CoordinatesAvailableEvent -= new MotionCapture.CoordinatesAvailableHandler(MotionCapture_CoordinatesAvailableEvent);
//if there is a client connection
if (clientConnectionList.Count != 0)
{
//and if the client is connected
if (clientConnectionList[0].Connected == true)
{
foreach (TcpClient singleClientConnection in clientConnectionList)
{
BinaryWriter binaryWriter = new BinaryWriter(new BufferedStream(singleClientConnection.GetStream()));
binaryWriter.Write('C');
binaryWriter.Write(camera.CameraNumber);
binaryWriter.Write(camera.xCoordinate);
binaryWriter.Write(camera.yCoordinate);
binaryWriter.Write(camera.zCoordinate);
double[] rotationMatrixBuffer = camera.RotationMatrix;
System.Diagnostics.Debug.WriteLine("Camera rotation matrix: ");
for (int i = 0; i < 9; i++)
{
System.Diagnostics.Debug.WriteLine(rotationMatrixBuffer[i].ToString());
binaryWriter.Write(rotationMatrixBuffer[i]);
}
binaryWriter.Flush();
}
}
}
MotionCapture.CoordinatesAvailableEvent += new MotionCapture.CoordinatesAvailableHandler(MotionCapture_CoordinatesAvailableEvent);
}
}
