public unsafe MainWindow()
{
InitializeComponent();
InitializeServer();
this.Closing += new CancelEventHandler(OnWindowClosing);
System.Windows.Threading.Dispatcher uiDispatcher = this.Dispatcher;
UtilMPipeline pp = new UtilMPipeline();
BackgroundWorker worker = new BackgroundWorker();
worker.DoWork += delegate(object s, DoWorkEventArgs args)
{
pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH);
pp.Init();
for (; ; )
{
if (!pp.AcquireFrame(true)) break;
{
PXCMImage image = pp.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_DEPTH);
PXCMImage.ImageData ddata;
pxcmStatus sts = image.AcquireAccess(PXCMImage.Access.ACCESS_READ, out ddata);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR) break;
short* depth = (short*)ddata.buffer.planes[0];
short minZ = 32001;
int minX = 0;
int minY = 0;
short maxX = 320;
for (int y = 0; y < 240; y++)
{
for (int x = 0; x < 320; x++)
{
if (depth[(y * 320) + x] < minZ)
{
minZ = depth[(y * 320) + x];
minX = x;
minY = y;
}
}
}
/////////////////////
//normalize extremes//
if (minZ < DistanceFromScreenEdge) minZ = DistanceFromScreenEdge;
//match origin//
minX -= 160;
minY -= 120;
/////////////////////
maxX = (short)(Math.Tan(FOV / 2) * minZ);
short discardedX = (short)(Math.Tan(FOV / 2) * (minZ - DistanceFromScreenEdge));
short screenMaxX = (short)(maxX - discardedX);
float xRatio = minX / screenMaxX;
UpdateGridDelegate update = new UpdateGridDelegate(UpdateGrid);
uiDispatcher.BeginInvoke(update, minX, minY, minZ, maxX, discardedX, screenMaxX, xRatio);
image.ReleaseAccess(ref ddata);
pp.ReleaseFrame();
}
}
pp.Close();
pp.Dispose();
};
worker.RunWorkerAsync();
}
private void ManageProgress(BindingSource bindingSource, DoubleBufferedDataGridView grid, FrameType frameType,
int sleepTimer)
{
var progress = new Progress();
progress.SetupAndShow(this, 0, 0, false, true, waitHandle);
progressSearched = 0;
progressFound = 0;
UpdateGridDelegate gridUpdater = UpdateGrid;
var updateParams = new object[] { bindingSource };
ResortGridDelegate gridSorter = ResortGrid;
var sortParams = new object[] { bindingSource, grid, frameType };
ThreadDelegate enableGenerateButton = EnableSeedGenerate;
try
{
bool alive = true;
while (alive)
{
progress.ShowProgress(progressSearched / (float)progressTotal, progressSearched, progressFound);
if (refreshQueue)
{
Invoke(gridUpdater, updateParams);
refreshQueue = false;
}
if (jobs != null)
{
foreach (Thread job in jobs)
{
if (job != null && job.IsAlive)
{
alive = true;
break;
}
alive = false;
}
}
if (sleepTimer > 0)
{
Thread.Sleep(sleepTimer);
}
}
}
catch (ObjectDisposedException)
{
// This keeps the program from crashing when the Time Finder progress box
// is closed from the Windows taskbar.
}
catch (Exception exception)
{
if (exception.Message != "Operation Cancelled")
{
throw;
}
}
finally
{
progress.Finish();
if (jobs != null)
{
for (int i = 0; i < jobs.Length; i++)
{
if (jobs[i] != null)
{
jobs[i].Abort();
}
}
}
Invoke(enableGenerateButton);
Invoke(gridSorter, sortParams);
}
}