void _parsePointCloud(byte[] byteData, int bytes)
{
float [] floatData = new float[bytes / 4];
Buffer.BlockCopy(byteData, 0, floatData, 0, byteData.Length);
int frameIndex = (int)floatData [0];
if (frameIndex != _thisFrame)
{
frameFinished();
_thisFrame = frameIndex;
_bufferPoints = new List <Point3DRGB>();
}
Debug.Log(frameIndex);
for (int i = 1; i < floatData.Length;)
{
float x = floatData[i++];
float y = floatData[i++];
float z = floatData[i++];
float r = floatData[i++] / 255;
float g = floatData[i++] / 255;
float b = floatData[i++] / 255;
Point3DRGB p = new Point3DRGB(new Vector3(x, y, z), new Color(r, g, b));
_bufferPoints.Add(p);
}
}
public CloudMessage(string message, byte[] receivedBytes)
{
int step = 15; // TMA: Size in bytes of heading: "CloudMessage" + L0 + 2 * L1. Check the UDPListener.cs from the Client.
byte[] buffer = new byte[4]; // Buffer for the x, y and z floats
string[] pdu = message.Split(MessageSeparators.L1);
float x, y, z;
byte r, g, b;
KinectId = pdu[0];
id = int.Parse (pdu [1]);
step += pdu[0].Length + pdu[1].Length;
Points_lowres = new List<Point3DRGB> ();
Points_highres = new List<Point3DRGB>();
for (int i = step; i < receivedBytes.Length; i += 16) // Each point is represented by 16 bytes.
{
try
{
if (i + 15 > receivedBytes.Length) break; // Insurance.
buffer[0] = receivedBytes[i];
buffer[1] = receivedBytes[i + 1];
buffer[2] = receivedBytes[i + 2];
buffer[3] = receivedBytes[i + 3];
x = System.BitConverter.ToSingle(buffer, 0); // x
buffer[0] = receivedBytes[i + 4];
buffer[1] = receivedBytes[i + 5];
buffer[2] = receivedBytes[i + 6];
buffer[3] = receivedBytes[i + 7];
y = System.BitConverter.ToSingle(buffer, 0); // y
buffer[0] = receivedBytes[i + 8];
buffer[1] = receivedBytes[i + 9];
buffer[2] = receivedBytes[i + 10];
buffer[3] = receivedBytes[i + 11];
z = System.BitConverter.ToSingle(buffer, 0); // z
r = receivedBytes[i + 12]; // r
g = receivedBytes[i + 13]; // g
b = receivedBytes[i + 14]; // b
Point3DRGB pt = new Point3DRGB(new Vector3(x, y, z), new Color((float)r / 255, (float)g / 255, (float)b / 255));
if (receivedBytes[i + 15] == 1) Points_highres.Add(pt); // If it's a HR point, save it to the high resolution points.
else Points_lowres.Add(pt); // If it's not, it's a low resolution point.
}
catch (Exception exc)
{
Debug.Log("Reached out of the array: " + exc.StackTrace);
Debug.Log("Kinectid = " + KinectId);
}
}
}
void _parsePointCloud(byte[] byteData)
{
float [] floatData = new float[byteData.Length / 4];
Buffer.BlockCopy (byteData, 0, floatData, 0, byteData.Length);
int frameIndex = (int)floatData [0];
if (frameIndex != _thisFrame) {
frameFinished();
_thisFrame = frameIndex;
_bufferPoints = new List<Point3DRGB>();
}
Debug.Log (frameIndex);
for (int i = 1; i < floatData.Length;)
{
float x = floatData[i++];
float y = floatData[i++];
float z = floatData[i++];
float r = floatData[i++]/255;
float g = floatData[i++]/255;
float b = floatData[i++]/255;
Point3DRGB p = new Point3DRGB(new Vector3(x,y,z),new Color(r,g,b));
_bufferPoints.Add(p);
}
}
