private void savingWorker_DoWork(object sender, DoWorkEventArgs e)
{
int nFrames = 0;
string outDir = "out" + "\\" + txtSeqName.Text + "\\";
DirectoryInfo di = Directory.CreateDirectory(outDir);
BackgroundWorker worker = (BackgroundWorker)sender;
//This loop is running till it is either cancelled (using the btRecord button), or till there are no more stored frames.
while (!worker.CancellationPending)
{
VertexC4ubV3f[] lVerticesWithColors = new VertexC4ubV3f[0];
int[] lTriangles;
bool success = oServer.GetStoredFrame(out lVerticesWithColors, out lTriangles);
//This indicates that there are no more stored frames.
if (!success)
{
break;
}
nFrames++;
SetStatusBarOnTimer("Saving frame " + (nFrames).ToString() + ".", 5000);
//This is ran if the frames from all clients are to be placed in a single file.
if (oSettings.bMergeScansForSave)
{
string outputFilename = outDir + "\\" + nFrames.ToString().PadLeft(5, '0') + ".ply";
Utils.saveToPly(outputFilename, lVerticesWithColors.ToList(), lTriangles.ToList(), oSettings.bSaveAsBinaryPLY);
}
}
}
private VertexC4ubV3f[] CopyMeshToVerticesWithColoursArray(Mesh mesh)
{
int nElements = mesh.nVertices;
if (nElements == 0)
{
return(new VertexC4ubV3f[0]);
}
byte[] byteVertices = new byte[nElements * 4 * sizeof(int)];
Marshal.Copy(mesh.verticesWithColors, byteVertices, 0, nElements * 4 * sizeof(int));
VertexC4ubV3f[] vertices = new VertexC4ubV3f[1];
vertices = FromByteArray <VertexC4ubV3f>(byteVertices);
return(vertices);
}
public void GenerateMesh(out VertexC4ubV3f[] lVerticesWithColours, out int[] lFrameTriangles)
{
Mesh mesh = new Mesh();
mesh.nVertices = 0;
lVerticesWithColours = new VertexC4ubV3f[0];
lFrameTriangles = new int[0];
int nClients = nFramesCopied;
if (nClients != 0)
{
generateMeshFromDepthMaps(nClients, depthMaps, depthColors, widths, heights, intrinsicsParams, transformParams, ref mesh, oSettings.bColorTransfer,
oSettings.aMinBounds[0], oSettings.aMinBounds[1], oSettings.aMinBounds[2],
oSettings.aMaxBounds[0], oSettings.aMaxBounds[1], oSettings.aMaxBounds[2],
oSettings.bGenerateTriangles);
lVerticesWithColours = CopyMeshToVerticesWithColoursArray(mesh);
lFrameTriangles = CopyMeshToTrianglesArray(mesh);
deleteMesh(ref mesh);
}
}
//Continually requests frames that will be displayed in the live view window.
private void updateWorker_DoWork(object sender, DoWorkEventArgs e)
{
List <List <Body> > lFramesBody = new List <List <Body> >();
VertexC4ubV3f[] lFramesVerts = new VertexC4ubV3f[0];
int[] lFramesTriangles = new int[0];
BackgroundWorker worker = (BackgroundWorker)sender;
while (!worker.CancellationPending)
{
Thread.Sleep(1);
//oServer.RequestLastFrames();
oServer.CopyLatestFrames();
oServer.RequestLastFrames();
oServer.CorrectRadialDistortionsForDepthMaps();
oServer.GenerateAndGetMesh(out lFramesVerts, lFramesBody, out lFramesTriangles);
//Update the vertex and color lists that are common between this class and the OpenGLWindow.
lock (lAllVerticesLock)
{
//lAllVertices.Clear();
//lAllBodies.Clear();
//lAllTriangles.Clear();
int TotalVerticesCount = 0;
int TotalTrianglesElementsCount = 0;
int ActTotalTrianglesElementsCount = 0;
lAllVertices = lFramesVerts;
lAllTriangles = lFramesTriangles;
//lAllVertices.AddRange(lFramesVerts);
//lAllTriangles.AddRange(lFramesTriangles);
for (int i = 0; i < lAllBodies.Count; i++)
{
lAllBodies.AddRange(lFramesBody[i]);
ActTotalTrianglesElementsCount = lAllTriangles.Count();
for (int v = TotalTrianglesElementsCount; v < ActTotalTrianglesElementsCount; v++)
{
lAllTriangles[v] += TotalVerticesCount / 3;
}
TotalTrianglesElementsCount = lAllTriangles.Count();
TotalVerticesCount = lAllVertices.Count();
}
}
// adding camera poses is in separate range, because oServer.lCameraPoses "get" locks oClientSocketLock
// that may cause deadlock when locking with lAllVertices
List <AffineTransform> cameraPoses = oServer.lCameraPoses;
lock (lAllVerticesLock)
{
lAllCameraPoses.Clear();
lAllCameraPoses.AddRange(cameraPoses);
}
//Notes the fact that a new frame was downloaded, this is used to estimate the FPS.
if (oOpenGLWindow != null)
{
oOpenGLWindow.SetNewVerticesAndTriangles(lAllVertices, lAllTriangles);
oOpenGLWindow.CloudUpdateTick();
}
oTransferServer.updateMesh(lAllVertices, lAllTriangles);
}
}
private MeshChunks formMeshChunks(List <VertexC4ubV3f> lVertices, List <int> lTriangles)
{
int chunkSizeLimit = 65000 - 3;
MeshChunks ret = new MeshChunks();
int nVertices = lVertices.Count();
int nTriangles = lTriangles.Count() / 3;
List <int> trianglesInChunks = new List <int>();
List <int> verticesInChunks = new List <int>();
int[] chunkIndex = new int[nVertices];
int[] verticesMap = new int[nVertices];
VertexC4ubV3f[] newVertices = new VertexC4ubV3f[nTriangles * 3];
int[] newTriangles = new int[nTriangles * 3];
int trianglesChunkStart = 0;
int currentChunkIndex = 0;
int currentVertex = 0;
for (int v = 0; v < nVertices; v++)
{
chunkIndex[v] = -1;
}
int verticesInCurrentChunk = 0;
Stopwatch sw = new Stopwatch();
sw.Start();
for (int t = 0; t < nTriangles * 3; t++)
{
int val = lTriangles[t];
if (chunkIndex[val] != currentChunkIndex)
{
newVertices[currentVertex] = lVertices[val];
verticesMap[val] = verticesInCurrentChunk;
chunkIndex[val] = currentChunkIndex;
currentVertex++;
newTriangles[t] = verticesInCurrentChunk;
verticesInCurrentChunk++;
}
else
{
newTriangles[t] = verticesMap[val];
}
if (verticesInCurrentChunk >= chunkSizeLimit && (((t + 1) % 3) == 0))
{
currentChunkIndex++;
verticesInChunks.Add(verticesInCurrentChunk);
trianglesInChunks.Add((t - trianglesChunkStart) / 3);
verticesInCurrentChunk = 0;
trianglesChunkStart = t;
}
}
if (verticesInCurrentChunk != 0)
{
verticesInChunks.Add(verticesInCurrentChunk);
trianglesInChunks.Add((nTriangles * 3 - trianglesChunkStart) / 3);
}
ret.lTriangles = new List <int>(newTriangles);
ret.lVertices = new List <VertexC4ubV3f>(SubArray(newVertices, 0, currentVertex));
ret.trianglesChunkSizes = trianglesInChunks;
ret.verticesChunkSizes = verticesInChunks;
sw.Stop();
Console.WriteLine("Forming elapsed={0}", sw.ElapsedMilliseconds);
return(ret);
}
private VertexC4ubV3f[] SubArray(VertexC4ubV3f[] data, int index, int length)
{
VertexC4ubV3f[] result = new VertexC4ubV3f[length];
Array.Copy(data, index, result, 0, length);
return(result);
}
