public void ReceiveFrame()
{
lBodies.Clear();
int nToRead = 16;
byte[] buffer = new byte[nToRead];
while (oSocket.Available == 0)
{
if (!SocketConnected())
{
bNoMoreStoredFrames = true;
return;
}
}
Receive(buffer, nToRead);
//oSocket.Receive(buffer, 16, SocketFlags.None);
nToRead = BitConverter.ToInt32(buffer, 0);
if (nToRead <= 0)
{
bNoMoreStoredFrames = true;
return;
}
int iCompressed = BitConverter.ToInt32(buffer, 4);
int iDepthWidth = BitConverter.ToInt32(buffer, 8);
int iDepthHeight = BitConverter.ToInt32(buffer, 12);
iDepthFrameWidth = iDepthWidth;
iDepthFrameHeight = iDepthHeight;
buffer = new byte[nToRead];
Receive(buffer, nToRead);
if (iCompressed == 1)
{
buffer = ZSTDDecompressor.Decompress(buffer);
}
if (iDepthWidth == 0)
{
iDepthWidth = 0;
}
frameDepth = new byte[iDepthWidth * iDepthHeight * 2];
frameRGB = new byte[iDepthWidth * iDepthHeight * 3];
Array.Copy(buffer, frameDepth, iDepthWidth * iDepthHeight * 2);
Array.Copy(buffer, iDepthWidth * iDepthHeight * 2, frameRGB, 0, iDepthWidth * iDepthHeight * 3);
//Receive body data
int startIdx = iDepthWidth * iDepthHeight * 5;
//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();
lFaces.Clear();
lObject.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);
* }
*/
/////////////////////////// 통신//////////////////////////////
// list.count 필요? face list 만들기!
int nFaces = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < nFaces; i++)
{
float headx = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float heady = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float headz = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float nosex = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float nosey = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float nosez = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
float pid = BitConverter.ToSingle(buffer, startIdx);
startIdx += 4;
// headx /= 1000.0f;
// heady /= 1000.0f;
// headz /= 1000.0f;
// nosex /= 1000.0f;
// nosey /= 1000.0f;
// nosez /= 1000.0f;
lFaces.Add(headx);
lFaces.Add(heady);
lFaces.Add(headz);
lFaces.Add(nosex);
lFaces.Add(nosey);
lFaces.Add(nosez);
lFaces.Add(pid);
}
/////////////////////////////////////////////////////////////
// object 정보
int nob = BitConverter.ToInt32(buffer, startIdx);
startIdx += 4;
for (int i = 0; i < nob; i++)
{
float obid = BitConverter.ToSingle(buffer, startIdx); //오브젝트 ID
startIdx += 4;
float obx = BitConverter.ToSingle(buffer, startIdx); //오브젝트 X좌표
startIdx += 4;
float oby = BitConverter.ToSingle(buffer, startIdx); //오브젝트 Y좌표
startIdx += 4;
float obz = BitConverter.ToSingle(buffer, startIdx); //오브젝트 Z좌표
startIdx += 4;
float kiid = BitConverter.ToSingle(buffer, startIdx); //키넥트 ID 좌표
startIdx += 4;
float hou = BitConverter.ToSingle(buffer, startIdx); //시
startIdx += 4;
float mi = BitConverter.ToSingle(buffer, startIdx); //분
startIdx += 4;
float se = BitConverter.ToSingle(buffer, startIdx); //초
startIdx += 4;
lObject.Add(obid);
lObject.Add(obx);
lObject.Add(oby);
lObject.Add(obz);
lObject.Add(kiid);
lObject.Add(hou);
lObject.Add(mi);
lObject.Add(se);
}
///////////////////////////////////////////////////////////////////////////////////////////////
}
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);
}
}
