public void ReceiveFrame()
{
lFrameRGB.Clear();
lFrameVerts.Clear();
lBodies.Clear();
int nToRead;
byte[] buffer = new byte[1024];
while (oSocket.Available == 0)
{
if (!SocketConnected())
return;
}
oSocket.Receive(buffer, 4, SocketFlags.None);
//string result = System.Text.Encoding.UTF8.GetString(buffer);
//n_to_read = Int32.Parse(result);
nToRead = BitConverter.ToInt32(buffer, 0);
if (nToRead == -1)
{
bNoMoreStoredFrames = true;
return;
}
buffer = new byte[nToRead];
int nAlreadyRead = 0;
while (nAlreadyRead != nToRead)
{
while (oSocket.Available == 0)
{
if (!SocketConnected())
return;
}
nAlreadyRead += oSocket.Receive(buffer, nAlreadyRead, nToRead - nAlreadyRead, SocketFlags.None);
}
//Receive depth and color data
int startIdx = 0;
int n_vertices = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < n_vertices; i++)
{
for (int j = 0; j < 3; j++)
{
lFrameRGB.Add(buffer[startIdx++]);
}
for (int j = 0; j < 3; j++)
{
lFrameVerts.Add(BitConverter.ToSingle(buffer, startIdx));
startIdx += 4;
}
}
//Receive body data
int nBodies = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < nBodies; i++)
{
Body tempBody = new Body();
tempBody.bTracked = BitConverter.ToBoolean(buffer, startIdx++);
int nJoints = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempBody.lJoints = new List<Joint>(nJoints);
tempBody.lJointsInColorSpace = new List<Point2f>(nJoints);
for (int j = 0; j < nJoints; j++)
{
Joint tempJoint = new Joint();
Point2f tempPoint = new Point2f();
tempJoint.jointType = (JointType)BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempJoint.trackingState = (TrackingState)BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempJoint.position.X = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempJoint.position.Y = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempJoint.position.Z = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempPoint.X = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempPoint.Y = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempBody.lJoints.Add(tempJoint);
tempBody.lJointsInColorSpace.Add(tempPoint);
}
lBodies.Add(tempBody);
}
}
public void ReceiveFrame()
{
lFrameRGB.Clear();
lFrameVerts.Clear();
lBodies.Clear();
int nToRead;
byte[] buffer = new byte[1024];
while (oSocket.Available == 0)
{
if (!SocketConnected())
{
return;
}
}
oSocket.Receive(buffer, 8, SocketFlags.None);
nToRead = BitConverter.ToInt32(buffer, 0);
int iCompressed = BitConverter.ToInt32(buffer, 4);
if (nToRead == -1)
{
bNoMoreStoredFrames = true;
return;
}
buffer = new byte[nToRead];
int nAlreadyRead = 0;
while (nAlreadyRead != nToRead)
{
while (oSocket.Available == 0)
{
if (!SocketConnected())
{
return;
}
}
nAlreadyRead += oSocket.Receive(buffer, nAlreadyRead, nToRead - nAlreadyRead, SocketFlags.None);
}
if (iCompressed == 1)
{
buffer = ZSTDDecompressor.Decompress(buffer);
}
//Receive depth and color data
int startIdx = 0;
int n_vertices = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < n_vertices; i++)
{
for (int j = 0; j < 3; j++)
{
lFrameRGB.Add(buffer[startIdx++]);
}
for (int j = 0; j < 3; j++)
{
float val = BitConverter.ToInt16(buffer, startIdx);
//converting from milimeters to meters
val /= 1000.0f;
lFrameVerts.Add(val);
startIdx += 2;
}
}
//Receive body data
int nBodies = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < nBodies; i++)
{
Body tempBody = new Body();
tempBody.bTracked = BitConverter.ToBoolean(buffer, startIdx++);
int nJoints = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempBody.lJoints = new List <Joint>(nJoints);
tempBody.lJointsInColorSpace = new List <Point2f>(nJoints);
for (int j = 0; j < nJoints; j++)
{
Joint tempJoint = new Joint();
Point2f tempPoint = new Point2f();
tempJoint.jointType = (JointType)BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempJoint.trackingState = (TrackingState)BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
tempJoint.position.X = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempJoint.position.Y = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempJoint.position.Z = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempPoint.X = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempPoint.Y = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
tempBody.lJoints.Add(tempJoint);
tempBody.lJointsInColorSpace.Add(tempPoint);
}
lBodies.Add(tempBody);
}
}