private void ReconstructDepthData(ReconstructionSensor sensor)
{
try
{
if (null != this.volume && !this.savingMesh)
{
this.Dispatcher.BeginInvoke(
(Action)(() =>
{
this.statusBarText.Text = Properties.Resources.ReconstructFrame
+ this.processedFrameCount.ToString(CultureInfo.CurrentCulture);
}));
// Process and display depth data
this.PreProcessDepthData(sensor);
// We would do camera tracking here if required...
// Lock the volume operations
lock (this.reconstructionLock)
{
// Integrate the frame to volume
if (!this.PauseIntegration)
{
// Map color to depth if we want to integrate color too
if (sensor.CaptureColor && null != sensor.MappedColorFrame)
{
// Pre-process color
sensor.MapColorToDepth();
Dispatcher.BeginInvoke(
(Action)
(() =>
this.volume.IntegrateFrame(
sensor.DepthFloatFrame,
sensor.MappedColorFrame,
this.integrationWeight,
FusionDepthProcessor.DefaultColorIntegrationOfAllAngles,
sensor.ReconCamera.WorldToCameraMatrix4)));
// Flag that we have captured color
this.colorCaptured = true;
}
else if (this.tracking)
{
if (first)
{
float centreDepth = this.depthFloatFrameDepthPixels[this.depthHeight * this.depthWidth / 2];
if (centreDepth > 0.0)
{
// Dispatcher.BeginInvoke(
//(Action)
//(() =>
// sensor.ReconSensorControl.AxisDistance = centreDepth
// ));
}
first = false;
}
Dispatcher.BeginInvoke(
(Action)
(() =>
doDepthStuff(sensor)
));
}
else
{
first = true;
// Just integrate depth
Dispatcher.BeginInvoke(
(Action)
(() =>
this.volume.IntegrateFrame(
sensor.DepthFloatFrame, this.integrationWeight, sensor.ReconCamera.WorldToCameraMatrix4)));
}
}
}
if (this.processedFrameCount % 2 == 0)
{
Dispatcher.BeginInvoke((Action)(() => this.RenderReconstruction(this.useCameraViewInReconstruction ? sensor : null)));
}
}
}
catch (InvalidOperationException ex)
{
this.ShowStatusMessage(ex.Message);
}
}
