private void buttonConnect_Click(object sender, EventArgs e)
{
if (cam.IsConnected)
{
// if we are already connected, just disable the button and cancel the display thread, the actual disconnection takes place in the *_RunWorkerCompleted method.
buttonConnect.Enabled = false;
backgroundWorkerGetFrames.CancelAsync();
}
else
{
// connect the camera and start the display background worker.
buttonConnect.Enabled = false;
try
{
if (cam.HasChannel(ChannelNames.Point3DImage))
{
channel3DName = ChannelNames.Point3DImage;
}
else if (cam.HasChannel(ChannelNames.Distance))
{
channel3DName = ChannelNames.Distance;
projectiveTransformation = new MetriPrimitives.Transformations.ProjectiveTransformationZhang((Metrilus.Util.ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Distance));
}
else if (cam.HasChannel(ChannelNames.ZImage))
{
channel3DName = ChannelNames.ZImage;
}
cam.ActivateChannel(channel3DName);
if (cam.HasChannel(ChannelNames.Amplitude))
{
channel2DName = ChannelNames.Amplitude;
}
else if (cam.HasChannel(ChannelNames.Intensity))
{
channel2DName = ChannelNames.Intensity;
}
else if (cam.HasChannel(ChannelNames.Left))
{
channel2DName = ChannelNames.Left;
}
cam.ActivateChannel(channel2DName);
cam.Connect();
if (!(channel3DName == ChannelNames.Point3DImage))
{
try
{
projectiveTransformation = new MetriPrimitives.Transformations.ProjectiveTransformationZhang((Metrilus.Util.ProjectiveTransformationZhang)cam.GetIntrinsics(channel3DName));
}
catch
{
}
if (projectiveTransformation == null)
{
projectiveTransformation = new MetriPrimitives.Transformations.ProjectiveTransformationZhang((Metrilus.Util.ProjectiveTransformationZhang)cam.GetIntrinsics(channel2DName));
}
}
//cam.Invoke("StopStreams", null);
}
catch (Exception ex)
{
MessageBox.Show("Connection error: " + ex.Message);
buttonConnect.Enabled = true;
return;
}
buttonConnect.Text = "Disconnect";
backgroundWorkerGetFrames.RunWorkerAsync();
buttonConnect.Enabled = true;
}
}
private void backgroundWorkerGetFrames_DoWork(object sender, DoWorkEventArgs e)
{
while (!backgroundWorkerGetFrames.CancellationPending)
{
// capture a new frame
try
{
//cam.Invoke("StartStreams", null);
cam.Update();
//cam.Invoke("StopStreams", null);
}
catch (Exception ex)
{
GC.KeepAlive(ex);
cam = new CameraClient("192.168.1.72", 8081, 8082, "MetriCam2.Cameras.Kinect2", "MetriCam2.Cameras.Kinect2");
cam.Connect();
//cam.Invoke("StopStreams", null);
}
Point3fImage p3Image = null;
if (channel3DName == ChannelNames.Point3DImage)
{
Point3fCameraImage image3D = (Point3fCameraImage)cam.CalcChannel(ChannelNames.Point3DImage);
p3Image = new Point3fImage(ref image3D);
}
else if (channel3DName == ChannelNames.Distance || channel3DName == ChannelNames.ZImage)
{
FloatCameraImage image3D = (FloatCameraImage)cam.CalcChannel(channel3DName);
p3Image = new Point3fImage(new FloatImage(ref image3D), projectiveTransformation, channel3DName == ChannelNames.ZImage);
}
FloatImage ir = ConvertToFloatImage(cam.CalcChannel(channel2DName).ToFloatCameraImage());
Bitmap bitmap = ir.ToBitmap();
//secondBitmap = zImage.ToBitmap();
// set the picturebox-bitmap in the main thread to avoid concurrency issues (a few helper methods required, easier/nicer solutions welcome).
this.InvokeSetBmp(bitmap);
MaskImage mask = new MaskImage(p3Image.Width, p3Image.Height);
ir = ir.Normalize();
for (int y = 0; y < mask.Height; y++)
{
for (int x = 0; x < mask.Width; x++)
{
Point3f p = p3Image[y, x];
if (p.X > -99f && p.X < 99f && p.Y > -99f & p.Y < 99f && p.Z > 0 && p.Z < 99f)
{
mask[y, x] = 0xff;
}
}
}
p3Image.EliminateFlyingPixels(5, 0.005f, 0.2f);
p3Image.Mask = mask;
TriangleIndexList til = new TriangleIndexList(p3Image, false, true);
if (renderTil == null)
{
renderTil = new Metri3D.Objects.RenderTriangleIndexList(til, Color.White);
panel3D.AddRenderObject(renderTil);
}
else
{
renderTil.UpdateData(til, Color.White);
}
panel3D.Invalidate();
}
}
