/// <summary>
/// Called every time the webcam sends us a new frame.
/// Most of the UI elements are updated here.
/// </summary>
/// <param name="sender"></param>
/// <param name="eventArgs"></param>
private void video_NewFrame(object sender,
NewFrameEventArgs eventArgs)
{
// get new frame
if (picBoxMain.Image != null)
{
picBoxMain.Image.Dispose();
}
_frameLock.WaitOne();
_currentFrame = (Bitmap)eventArgs.Frame.Clone();
picBoxMain.Image = _currentFrame;
_frameLock.Release();
_newFrame.Set();
// process the frame
using (Graphics gf = picBoxMain.CreateGraphics())
{
if (_ParticleFilterRunning && pf != null)
{
_frameLock.WaitOne();
pf.markupImage(gf, currentCenter);
float Confidence = pf.getConfidence();
int[] center = pf.findCenter();
setTbox(Confidence.ToString(), tBoxConfidence);
setTbox(center[0].ToString() + "," + center[1].ToString(), tboxCenterCoordinates);
if (pf._Centered)
{
_Centered.Set();
SetStatus("Target Locked", lblStatus);
}
else
{
SetStatus("Looking for target", lblStatus);
_Centered.Reset();
}
if (!_RocketTracking.IsAlive)
{
_RocketTracking.Start();
}
_frameLock.Release();
}
}
}
