public MainForm()
{
InitializeComponent();
initCameraThread();
initGC();
initFpsUpdater();
_garbageCollector.Start();
_depthSensorThread.Start();
void initCameraThread()
{
_guiUpdater.Update += new EventHandler <ThreadService>((o, service) =>
{
var frame = new Mat();
short[,] depthMap = _depthSensorThread.GetDepthMap();
if (depthMap != null)
{
var mat = new MatOfByte3(480, 640);
var indexer = mat.GetIndexer();
//short maxValue = 1;
//foreach (short value in depthMap)
//{
// if (Math.Abs(value) < 20000 && value > maxValue)
// {
// maxValue = value;
// }
//}
//maxValue = 1500;
for (int row = 0; row < 480; row++)
{
for (int col = 0; col < 640; col++)
{
var pixel = indexer[row, col];
short value = depthMap[row / 2, col / 2];
pixel.Item0 = (byte)(value / 3 % 256);
pixel.Item1 = 255;
pixel.Item2 = 255;//(byte)(255 - value * 220 / maxValue);
if (Math.Abs(value) > 20000)
{
pixel.Item1 = 0;
pixel.Item2 = 0;
}
indexer[row, col] = pixel;
}
}
Cv2.CvtColor(mat, mat, ColorConversionCodes.HSV2BGR);
BeginInvoke(new MethodInvoker(() =>
{
PictureBox_DepthMap.Image = mat.ToBitmap();
}));
}
if (_capture.Read(frame) && frame.Width > 0)
{
//Cv2.Flip(frame, frame, FlipMode.Y);
//frame = AlterMat(frame);
BeginInvoke(new MethodInvoker(() =>
{
string[] oldInfo = Label_FrameInfo.Text.Split(' ');
string fpsInfo = oldInfo.Length > 1 ? oldInfo[1] : "?";
Label_FrameInfo.Text = $"{frame.Width}x{frame.Height} {fpsInfo}";
PictureBox_Camera.Image = frame.ToBitmap();
}));
_framesCounter.Update();
}
});
_guiUpdater.ThreadCompleted += new EventHandler <ThreadService>((o, service) =>
{
BeginInvoke(new MethodInvoker(() =>
{
PictureBox_Camera.Image = null;
}));
_framesCounter.Reset();
Label_FrameInfo.Text = "N/A";
});
_guiUpdater.UpdateInterval = 0;
}
void initGC()
{
_garbageCollector.Update += new EventHandler <ThreadService>((obj, service) =>
{
GC.Collect();
});
_garbageCollector.UpdateInterval = 1000;
}
void initFpsUpdater()
{
_fpsUpdater.Update += new EventHandler <ThreadService>((obj, service) =>
{
BeginInvoke(new MethodInvoker(() =>
{
int fps = _framesCounter.GetFps();
if (fps != -1)
{
string[] oldInfo = Label_FrameInfo.Text.Split(' ');
string resInfo = oldInfo.Length > 0 ? oldInfo[0] : "?x?";
Label_FrameInfo.Text = $"{resInfo} {fps}";
}
}));
});
_fpsUpdater.UpdateInterval = 500;
}
}
