/// <summary>
/// Does show a messagebox inside another task, so it has rather no impact to the main thread.
/// </summary>
public static void TaskBasedShow(
string message,
string caption,
MessageBoxButton buttons,
MessageBoxImage image)
{
Task.Run(() =>
{
OnRes?.Invoke(MessageBox.Show(message, caption, buttons, image));
});
}
private void AnalyzeDepthImage()
{
while (m_IsRunning)
{
if (m_Queue != null)
{
DepthFrame f;
if (m_Queue.Dequeue(out f))
{
using (f)
{
var o_Result = new PlaneResult();
o_Result.IsPlaneReconstructed = true;
var profile = f.GetProfile();
var streamType = profile.Stream;
var streamFormat = profile.Format;
if (streamType == Stream.Depth && streamFormat == Format.Z16)
{
m_Intrinsics = profile.GetIntrinsics();
m_Roi = setROI();
var data = f.Data;
int width = f.Width;
int height = f.Height;
var pixels = f.Pixels; //new short[width * height];
//System.Runtime.InteropServices.Marshal.Copy(data, pixels, 0, width * height);
List <Vector3> roiPixels = new List <Vector3>();
// converting pixels to point in 3d space
for (int y = m_Roi.MinY; y < m_Roi.MaxY; y++)
{
for (int x = m_Roi.MinX; x < m_Roi.MaxX; x++)
{
ushort depthRaw = (ushort)pixels[y * width + x];
// depthRaw if 0 means there's no depth, the pixel is at depth zero just like any other pixel in a photo
if (depthRaw != 0)
{
float[] pixel = { x, y };
Vector3 point = new Vector3();
var distance = depthRaw * m_Units;
projectPixelToPoint(ref point, m_Intrinsics, pixel, distance);
roiPixels.Add(new Vector3(point.X, -point.Y, point.Z));
}
}
}
if (roiPixels.Count < 3)
{
continue;
}
roiPixels.Reverse();
var plane = planeFromPoints(roiPixels);
// The points in RoI don't span a valid plane which is kind of useless
if (plane == new Plane(0, 0, 0, 0))
{
continue;
}
// Vector3 planeFitPivot = approximateIntersection(plane, m_Intrinsics.width / 2f, m_Intrinsics.height / 2f, 0f, 1000f);
Vector3[] planeCorners = new Vector3[4];
planeCorners[0] = approximateIntersection(plane, m_Roi.MinX, m_Roi.MinY, 0f, 1000f);
planeCorners[1] = approximateIntersection(plane, m_Roi.MaxX, m_Roi.MinY, 0f, 1000f);
planeCorners[2] = approximateIntersection(plane, m_Roi.MaxX, m_Roi.MaxY, 0f, 1000f);
planeCorners[3] = approximateIntersection(plane, m_Roi.MinX, m_Roi.MaxY, 0f, 1000f);
o_Result.P = plane;
o_Result.PlaneCorners = planeCorners;
if (!isPlaneValid(o_Result))
{
o_Result.PlaneCorners = null;
o_Result.IsPlaneReconstructed = false;
}
else
{
setAngleRelativeToCameraForward(ref o_Result);
}
// Resulting plance distance from the camera
o_Result.Distance = -plane.D * 1000;
OnRes?.Invoke(o_Result);
}
}
}
else
{
Thread.Sleep(4);
}
}
}
}
