public CollectData(string picName,double timespan,NDILib.Position3d position0,NDILib.Position3d position1,NDILib.Position3d position2)
{
this.picName = picName;
this.timespan = timespan;
this.position0 = position0;
this.position1 = position1;
this.position2 = position2;
}
void backgroundWorker_DoWork(object sender, DoWorkEventArgs e)
{
maxSpeed = 0;
maxGrasp = 0;
NDILib.Position3d oldposition = allDataList[0].position2;
double oldtime = allDataList[0].timespan;
double oldspeed = 0;
for (int i = 0; i < allDataLength;i++ ) {
position3D0=allDataList[i].position0;
position3D1=allDataList[i].position1;
position3D2=allDataList[i].position2;
if (position3D0.x > MAX_NEGATIVE && position3D1.x > MAX_NEGATIVE) {
double distance = Math.Sqrt((position3D0.x - position3D1.x) * (position3D0.x - position3D1.x) +
(position3D0.y - position3D1.y) * (position3D0.y - position3D1.y) +
(position3D0.z - position3D1.z) * (position3D0.z - position3D1.z));
Console.WriteLine("distance:" + distance);
if (distance > maxGrasp)
{
maxGrasp = distance;
}
}
if (position3D2.x>MAX_NEGATIVE){
double time = allDataList[i].timespan - oldtime;
if (time != 0)
{
double range = Math.Sqrt((position3D2.x - oldposition.x) * (position3D2.x - oldposition.x) +
(position3D2.y - oldposition.y) * (position3D2.y - oldposition.y) +
(position3D2.z - oldposition.z) * (position3D2.z - oldposition.z));
double speed = range / time;
double acce = 1000 * (speed - oldspeed) / time;
Console.WriteLine("speed:" + speed);
Console.WriteLine("acce: " + acce);
if (acce < 15 && acce > -15)
{
if (speed > maxSpeed)
{
maxSpeed = speed;
}
oldposition = position3D2;
oldtime = allDataList[i].timespan;
oldspeed = speed;
}
}
}
}
}
