private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
rThread.Dispose();
if (MBmaster != null)
{
MBmaster.Dispose();
MBmaster = null;
}
UdpClass.del_socket();
}
private void CloseLaser_Click(object sender, EventArgs e)
{
UdpClass.set_laser_state(false);
}
unsafe void getData()
{
float tx, tz, max, min, cv;
int cc = 0, ci = 0;
// sorted = new PointF[920 / n];
filters = new PointF[920 / n];
int b = UdpClass.rec_init(ref p);
while (true)
{
int c = UdpClass.rec_cam_line_data(x, z, ref p);
if (c == 1)
{
sb.Clear();
lock (this)
{
fixed(float *px = x, pz = z)
{
float *ppx = px;
float *ppz = pz;
for (int i = 0; i < 920; i += n)
{
if (i < 920 - n)
{
float *ppxk = ppx + n;
float *ppzk = ppz + n;
for (int k = i + 5; k < 920; k += n)
{
if (*ppx > *ppxk)
{
tx = *ppx;
*ppx = *ppxk;
*ppxk = tx;
tz = *ppz;
*ppz = *ppzk;
*ppzk = tz;
}
ppxk += n;
ppzk += n;
}
}
cv = 0;
cc = 0;
//中位值平均滤波法
min = *ppz;
max = *ppz;
for (int j = -m; j <= m; j++)
{
ci = j * n;
if (ci + i < 920 && ci + i >= 0)
{
cv += ppz[ci];
if (ppz[ci] > max)
{
max = ppz[ci];
}
if (ppz[ci] < min)
{
min = ppz[ci];
}
cc++;
}
}
cv = (cv - min - max) / (cc - 2);
/*
* //Mean
* for (int j = -m; j <= m; j++)
* {
* ci = j * n;
* if (ci + i < 920 && ci + i >= 0)
* {
* cv += ppz[ci];
* cc++;
* }
* }
* cv = cv / cc;*/
sb.Append(string.Format("{2}:x = {0} z = {1}\r\n", *ppx, -*ppz, i / n));
filters[i / n].X = (float)((*ppx * 2 + 30) * MajorTicY + margin);
filters[i / n].Y = (float)(pnlCanvas.Height - margin - (-cv + 40) * MajorTicY);
ppx += n;
ppz += n;
}
}
cnt++;
// sorted = dps.OrderBy(p => p.Y).ToArray();
// filter(sorted);
richTextBox1.BeginInvoke(new EventHandler(delegate
{
try
{
richTextBox1.Text = sb.ToString();
}
catch { }
}));
pnlCanvas.BeginInvoke(new EventHandler(delegate
{
Draw();
}));
}
Thread.Sleep(10);
}
}
}
private void OpenLaser_Click(object sender, EventArgs e)
{
UdpClass.set_laser_state(true);
}