private void timerShowLog_Tick(object sender, EventArgs e)
{
if (ShareMem.GetCounter() > 0)
{
//这里打开，用于防止界面最小化后，显示不正确的问题
this.richTextBoxExLog.HideSelection = true;
if (this.richTextBoxExLog.Text.Length >= 1024 * 100)
{
this.richTextBoxExLog.Text = "";
}
string strMsg = ShareMem.GetMessage();
this.richTextBoxExLog.ForeColor = Color.Black;
int iP1 = this.richTextBoxExLog.TextLength;
this.richTextBoxExLog.AppendText(strMsg);
this.richTextBoxExLog.AppendText(Environment.NewLine);
int iP2 = this.richTextBoxExLog.TextLength;
this.richTextBoxExLog.Select(iP1, iP2);
if (strMsg.IndexOf("#重要#") >= 0)
{
this.richTextBoxExLog.SelectionColor = Color.Red;
}
else
{
this.richTextBoxExLog.SelectionColor = Color.Black;
}
this.richTextBoxExLog.Select(iP2, iP2);
//这里关掉，用于显示最后一行
this.richTextBoxExLog.HideSelection = false;
}
}
/// <summary>
/// 初始化
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void mainw_Loaded(object sender, RoutedEventArgs e)
{
this.update_color = false;
this.w_rgb_index = 0;
this.w_depth_index = 0;
///初始化共享内存
this.SHrgb = new ShareMem();
this.SHdepth = new ShareMem();
this.SHpointcloud = new ShareMem();
if (0 != this.SHrgb.Init("_sharemem_for_colorpixels_", 921604))
{
this.exit("shared memory initial error.");
}
if (0 != this.SHdepth.Init("_sharemem_for_depthpixels_", 921604))
{
this.exit("shared memory initial error.");
}
if (0 != this.SHpointcloud.Init("_sharemem_for_point_cloud_", 3686404))
{
this.exit("shared memory initial error.");
}
this.SHrgb_py = new ShareMem();
this.SHdepth_py = new ShareMem();
this.SHpointcloud_py = new ShareMem();
if (0 != this.SHrgb_py.Init("_sharemem_for_colorpixels_cspy", 921604))
{
this.exit("shared memory initial error.");
}
if (0 != this.SHdepth_py.Init("_sharemem_for_depthpixels_cspy", 921604))
{
this.exit("shared memory initial error.");
}
if (0 != this.SHpointcloud_py.Init("_sharemem_for_point_cloud_cspy", 3686404))
{
this.exit("shared memory initial error.");
}
string exename = System.Diagnostics.Process.GetCurrentProcess().MainModule.FileName;
string directoryName = Path.GetDirectoryName(exename);
this.Visibility = System.Windows.Visibility.Hidden;
this.tr = new tem2rgb(directoryName + "//tem_rgb.txt");
this.rp = new ReadParam();
this.rp.GetTransitMatrix(directoryName + "//installtion_param.txt");
this.fg_flg = this.rp.GetGroundParam(directoryName + "//groundfilter_param.txt");
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
this.colorPixels = new byte[921604];
this.rwcolorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
this.depthPixels = new byte[921604];
this.rawdepthPixels = new DepthImagePixel[this.sensor.DepthStream.FramePixelDataLength];
this.pointcloudbytes = new byte[3686404];
this.cali_points = new ColorImagePoint[640 * 480];
this.camera_calib = new CoordinateMapper(this.sensor);
this.sensor.ColorFrameReady += this.SensorColorFrameReady;
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
this.exit("");
}
Thread t = new Thread(new ThreadStart(this.updatecolor));
t.Start();
}
else
{
this.exit("no kinect found. program ended.");
}
}
