/// <summary>
/// Process the depth input
/// </summary>
/// <param name="depthPixels">The depth data array to be processed</param>
private void ProcessFusionFrameBackground(FusionWorkItem workItem)
{
Debug.Assert(null != this.volume, "volume should be initialized");
Debug.Assert(null != this.shadedSurfaceColorFrame, "shaded surface should be initialized");
Debug.Assert(null != this.colorFusionBitmap, "color bitmap should be initialized");
try
{
DepthImagePixel[] depthPixels = workItem.data;
byte[] colorPixels = workItem.colordata;
bool trackingSucceeded = false;
if (!IsIntegrationPaused)
{
trackingSucceeded = TrackIntegrate(depthPixels, workItem.colordata, workItem.Format);
}
if (ProcessedFrameCount % 2 == 0)
{
RenderFusion();
}
// The input frame was processed successfully, increase the processed frame count
++this.ProcessedFrameCount;
//Console.WriteLine("ohohoh!pushed item !");
_fusionWorkItemPool.Push(workItem);
_syncContext.Post((SendOrPostCallback)FusionUpdateUI, trackingSucceeded);
//return trackingSucceeded;
}
catch (InvalidOperationException ex)
{
FusionStatusMessage = ex.Message;
//return false;
}
finally
{
}
}
private void ReturnFusionWorkItem(FusionWorkItem workItem)
{
_fusionWorkItemPool.Push(workItem);
}
