发送部分编写完成

app/src/main/AndroidManifest.xml

@@ -3,6 +3,8 @@
     xmlns:tools="http://schemas.android.com/tools">
     <!-- For using the Camera -->
     <uses-permission android:name="android.permission.CAMERA" />
+    <!-- For sending data -->
+    <uses-permission android:name="android.permission.INTERNET"/>
 
     <uses-feature android:name="android.hardware.camera" />
     <!-- For mediapipe -->

app/src/main/java/top/rrricardo/motioncapture/MainActivity.kt

@@ -6,6 +6,8 @@ import android.os.Bundle
 import android.util.Log
 import android.util.Size
 import android.view.*
+import android.widget.EditText
+import android.widget.Toast
 import androidx.appcompat.widget.Toolbar
 import androidx.fragment.app.DialogFragment
 import com.google.mediapipe.components.CameraHelper.CameraFacing
@@ -19,6 +21,8 @@ import com.google.mediapipe.framework.PacketGetter
 import com.google.mediapipe.framework.ProtoUtil
 import com.google.mediapipe.glutil.EglManager
 import com.google.protobuf.InvalidProtocolBufferException
+import top.rrricardo.motioncapture.models.PoseLandmark
+import java.nio.ByteBuffer
 
 class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListener {
     // 一些在设置MediaPipe时会用到的字符串常量
@@ -35,6 +39,8 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
     lateinit var converter: ExternalTextureConverter
     lateinit var cameraHelper: CameraXPreviewHelper
     private var cameraFacing = CameraFacing.BACK
+    private var isSet = false
+    private lateinit var sender: UdpSender
 
     private lateinit var toolbar: Toolbar
 
@@ -96,13 +102,27 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
         ) {
             Log.i(tag, "Received Landmark Packets.")
             try {
+                Log.i(tag, "Receive Pose Packet.")
                 // 无法采用这种方法获取packet
                 // 回报Fatal signal 6 (SIGABRT), code -1 (SI_QUEUE) in tid 15943 (Thread-9), pid 15810 (o.motioncapture)
                 /*val packetRaw = PacketGetter.getBytes(it)
                 val landmarks = NormalizedLandmarkList.parseFrom(packetRaw)
                 Log.i(tag, getPoseLandmarksDebugString(landmarks))*/
-                val landmarks = PacketGetter.getProto(it, NormalizedLandmarkList.getDefaultInstance())
+                val landmarks = PacketGetter.getProto(it,
-                Log.i(tag, getPoseLandmarksDebugString(landmarks))
+                    NormalizedLandmarkList.getDefaultInstance())
+                val poseLandmarks = PoseLandmark.valueOf(landmarks, it.timestamp)
+
+                val buffer = ByteBuffer.allocate(
+                    poseLandmarks.size * PoseLandmark.packetLength)
+
+                for (poseLandmark in poseLandmarks) {
+                    buffer.put(poseLandmark.toByteArray())
+                }
+
+                if (isSet) {
+                    sender.sendMessage(buffer.array())
+                }
+
             } catch (exception: InvalidProtocolBufferException) {
                 Log.e(tag, "failed to get protocol.", exception)
             }
@@ -110,6 +130,11 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
 
         // 检查相机权限
         PermissionHelper.checkAndRequestCameraPermissions(this)
+
+        // 提示设置服务器
+        if (!isSet) {
+            showToastMessage("Server Unset!")
+        }
     }
 
     override fun onResume() {
@@ -132,6 +157,11 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
 
         converter.close()
         previewDisplayView.visibility = View.GONE
+
+        if (isSet) {
+            sender.close()
+            isSet = false
+        }
     }
 
     override fun onRequestPermissionsResult(
@@ -145,6 +175,23 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
 
     override fun onDialogPositiveClick(dialog: DialogFragment) {
         Log.i(tag, "Confirm Button Clicked.")
+
+        val ipInput = findViewById<EditText>(R.id.targetIP).text.toString()
+        val portInput = findViewById<EditText>(R.id.targetPort).text.toString()
+        try {
+            val port = portInput.toInt()
+            if (isSet) {
+                sender.close()
+                isSet = false
+            }
+
+            sender = UdpSender(ipInput, port)
+            isSet = true
+
+            showToastMessage("Server set successfully!")
+        } catch (e: java.lang.NumberFormatException) {
+            Log.e(tag, "Input error: $e")
+        }
     }
 
     override fun onDialogNegativeClick(dialog: DialogFragment) {
@@ -277,6 +324,12 @@ class MainActivity : AppCompatActivity(), SendDialogFragment.NoticeDialogListene
         dialogFragment.show(supportFragmentManager, "SetIpPortDialog")
     }
 
+    private fun showToastMessage(message: String) {
+        val duration = Toast.LENGTH_SHORT
+
+        Toast.makeText(this, message, duration).show()
+    }
+
 
     /**
      * 格式化输出捕捉的标志位置

app/src/main/java/top/rrricardo/motioncapture/models/PoseLandmark.kt

@@ -10,9 +10,6 @@ class PoseLandmark(
     private val Z: Float,
     private val Visibility: Float,
     private val TimeStamp: Long) {
-    private val tolerance = 10E-6;
-
-    private val packetLength = 28;
 
     fun toByteArray(): ByteArray {
         val result = ByteBuffer.allocate(packetLength)
@@ -27,36 +24,40 @@ class PoseLandmark(
         return result.array()
     }
 
-    fun valueOf(data: ByteArray): PoseLandmark {
+    companion object {
-        val buffer = ByteBuffer.wrap(data)
+        const val packetLength = 28;
 
-        val type = buffer.int
+        fun valueOf(data: ByteArray): PoseLandmark {
-        val x = buffer.float
+            val buffer = ByteBuffer.wrap(data)
-        val y = buffer.float
-        val z = buffer.float
-        val visibility = buffer.float
-        val timeStamp = buffer.long
 
-        return PoseLandmark(type, x, y, z, visibility, timeStamp)
+            val type = buffer.int
-    }
+            val x = buffer.float
+            val y = buffer.float
+            val z = buffer.float
+            val visibility = buffer.float
+            val timeStamp = buffer.long
 
-    fun valueOf(poseLandmarks: NormalizedLandmarkList, timeStamp: Long): Collection<PoseLandmark> {
+            return PoseLandmark(type, x, y, z, visibility, timeStamp)
-        val result = mutableSetOf<PoseLandmark>()
-
-        for ((landmarkIndex, landmark) in poseLandmarks.landmarkList.withIndex()) {
-            val poseLandmark = PoseLandmark(
-                landmarkIndex,
-                landmark.x,
-                landmark.y,
-                landmark.z,
-                landmark.visibility,
-                timeStamp
-            )
-
-            result.add(poseLandmark)
         }
 
-        return result
+        fun valueOf(poseLandmarks: NormalizedLandmarkList, timeStamp: Long): Collection<PoseLandmark> {
+            val result = mutableSetOf<PoseLandmark>()
+
+            for ((landmarkIndex, landmark) in poseLandmarks.landmarkList.withIndex()) {
+                val poseLandmark = PoseLandmark(
+                    landmarkIndex,
+                    landmark.x,
+                    landmark.y,
+                    landmark.z,
+                    landmark.visibility,
+                    timeStamp
+                )
+
+                result.add(poseLandmark)
+            }
+
+            return result
+        }
     }
 
     override fun toString(): String {