我正在学习C＃编程和Kinect传感器编程（我很喜欢 C＃语言和Kinect中的新手。我正在尝试使用Microsoft Visual C＃2010 Express使用Xtion Pro Live传感器编写应用程序来控制机器人。在我的主窗体中，有2个picturebox对象，2个按钮对象，3个标签和3个文本框对象。两个图片框对象之一（pictureBox1）用于显示RGB摄像头。另一个pictureBox2）用于模拟2D（x和y坐标）图形中的手部位置。两个按钮之一（button1）用于初始化Xtion Pro Live并在picturebox1上显示RGB相机，并模拟picturebox2上的手部位置。另一个（button2）是退出程序。三个标签，label1，label2，label3和三个文本框，textbox1，textbox2，textbox3用于显示手的3个坐标。
这是我在Form1.cs中的代码：
using OpenNI;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
using System.Text;
using System.Threading;
using System.Windows.Forms;
namespace HandTracking
{
public partial class Form1 : Form
{
public const string path = @"C:/Vu/Kinect/Data/SamplesConfig.xml";
public bool run;
public Thread thread;
public Bitmap bitmap;
public Context context;
public ScriptNode node;
public ImageGenerator image;
public DepthGenerator depth;
public GestureGenerator gesture;
public HandsGenerator hand;
public Queue<Point3D> handpoint = new Queue<Point3D>();
public const int maxpoint = 30;
enum GestureStatus
{
Unrecognized, Progress, Recognized
}
private GestureStatus gesstatus = GestureStatus.Unrecognized;
enum HandsStatus
{
Untracked, Create, Update
}
private HandsStatus handstatus = HandsStatus.Untracked;
public Pen pen = new Pen(Color.Red, 5);
public Brush brush = new SolidBrush(Color.Magenta);
public Font font = new Font("Times New Roman", 20);
public PointF point = new PointF(0, 0);
public Form1()
{
InitializeComponent();
this.pictureBox1.BackColor = Color.Black;
this.pictureBox2.BackColor = Color.White;
this.button1.Enabled = true;
}
public void button1_Click(object sender, EventArgs e)
{
this.button1.Enabled = false;
try
{
context = Context.CreateFromXmlFile(path, out node);
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null)
throw new Exception(context.GlobalErrorState);
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null)
throw new Exception(context.GlobalErrorState);
depth.AlternativeViewpointCapability.SetViewpoint(image);
gesture = context.FindExistingNode(NodeType.Gesture) as GestureGenerator;
if (gesture == null)
throw new Exception(context.GlobalErrorState);
gesture.AddGesture("RaiseHand");
gesture.GestureRecognized += new EventHandler<GestureRecognizedEventArgs>(GestureRecognized);
gesture.GestureProgress += new EventHandler<GestureProgressEventArgs> (GestureProgress);
hand = context.FindExistingNode(NodeType.Hands) as HandsGenerator;
if (hand == null)
throw new Exception(context.GlobalErrorState);
hand.HandCreate += new EventHandler<HandCreateEventArgs>(HandCreate);
hand.HandUpdate += new EventHandler<HandUpdateEventArgs>(HandUpdate);
context.StartGeneratingAll();
MapOutputMode map = image.MapOutputMode;
bitmap = new Bitmap((int)map.XRes, (int)map.YRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
run = true;
thread = new Thread(CallThread);
thread.Start();
}
catch (Exception error)
{
MessageBox.Show(error.Message);
}
}
public void GestureRecognized(object sender, GestureRecognizedEventArgs e)
{
gesstatus = GestureStatus.Recognized;
hand.StartTracking(e.EndPosition);
}
public void GestureProgress(object sender, GestureProgressEventArgs e)
{
gesstatus = GestureStatus.Progress;
}
public void HandCreate(object sender, HandCreateEventArgs e)
{
handstatus = HandsStatus.Create;
}
public void HandUpdate(object sender, HandUpdateEventArgs e)
{
handstatus = HandsStatus.Update;
handpoint.Enqueue(e.Position);
}
public void button2_Click(object sender, EventArgs e)
{
DialogResult result = MessageBox.Show("Do you want to quit?", "Confirm", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
if (result == DialogResult.OK)
{
try
{
run = false;
if (thread != null)
thread.Join();
this.Close();
}
catch (Exception error)
{
MessageBox.Show(error.Message);
}
}
}
public void CallThread()
{
try
{
while (run)
{
Data();
pictureBox1.Invalidate();
pictureBox2.Invalidate();
}
}
catch (Exception error)
{
MessageBox.Show(error.Message);
}
}
public unsafe void Data()
{
context.WaitAndUpdateAll();
ImageMetaData imd = image.GetMetaData();
lock (this)
{
Rectangle rect = new Rectangle(0, 0, bitmap.Width, bitmap.Height);
BitmapData data = bitmap.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte* dstp = (byte*)data.Scan0.ToPointer();
byte* imstp = (byte*)image.ImageMapPtr.ToPointer();
for (int i = 0; i < imd.DataSize; i += 3, dstp += 3, imstp += 3)
{
dstp[0] = imstp[2];
dstp[1] = imstp[1];
dstp[2] = imstp[0];
}
bitmap.UnlockBits(data);
if (handpoint.Count != 0)
{
Point3D start = depth.ConvertRealWorldToProjective(handpoint.Peek());
foreach (Point3D hpoint in handpoint)
{
Point3D pt = depth.ConvertRealWorldToProjective(hpoint);
HandPosition(start);
start = pt;
}
}
string mess = "Gesture: RaiseHand" + " ,Status:" + gesstatus.ToString() + "\n" + "Hand: " + handstatus.ToString();
PicDraw(bitmap, mess);
}
}
public void HandPosition(Point3D pt)
{
try
{
float a,b,c;
string handx, handy, handz;
a=pt.X;
b=pt.Y;
c=pt.Z;
handx = a.ToString();
handy = b.ToString();
handz = c.ToString();
Graphics g = pictureBox2.CreateGraphics();
g.FillEllipse(brush, a - 5, b - 5, 20, 20);
textBox1.Text = handx;
textBox2.Text = handy;
textBox3.Text = handz;
g.Dispose();
}
catch (Exception error)
{
MessageBox.Show(error.Message);
}
}
public void PicDraw(Bitmap bmap, string me)
{
try
{
Graphics g;
pictureBox1.Image = bmap;
g = Graphics.FromImage(pictureBox1.Image);
g.DrawString(me, font, brush, point);
g.Dispose();
}
catch (Exception error)
{
MessageBox.Show(error.Message);
}
}
}
}
这是我在Program.cs中的代码：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Windows.Forms;
namespace HandTracking
{
static class Program
{
........
[STAThread]
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Form1 f1 = new Form1();
f1.Text = "Hand Tracking";
f1.StartPosition = FormStartPosition.CenterScreen;
Application.Run(f1);
}
}
}
当我多次编译程序时，每次抛出不同的错误：未处理InvalidOperationException;跨线程操作无效：控制'textBox1'从其创建的线程以外的线程访问;对象目前在其他地方使用。 我不知道我传递参数的方式是：HandPosition（start）和PicDraw（bitmap，mess）是否正确。如果我使用HandPosition（开始）来控制机器人，会出现任何问题吗？任何人都可以告诉我我的错误并帮助我纠正程序吗？
答案 0 :(得分：0)
问题是您正在尝试在UI线程以外的线程上访问WinForms控件。它是使用Thread.Start创建的主题完成的。
更好的Windows Forms技术是使用BackgroundWorker方法（如果您使用的是.NET 4，则任务并行库非常好）。使用BackgroundWorker，您可以发送线程来完成一些工作，它会提供UI线程更新，并发回您选择的任何对象。由于您是C＃的新手，因此BackgroundWorker是正确的选择，因为它易于使用，如果您遇到困难，还有大量的文档。
在UI线程上，您只需获取这些更新，然后从UI线程更新WinForms控件。问题已解决。
要了解有关BackgroundWorker，Google的更多信息，或者您可以从这里开始：
http://www.codeproject.com/Articles/99143/BackgroundWorker-Class-Sample-for-Beginners