AForge.Robotics.TeRK.Qwerk.Video.WorkerThread C# (CSharp) Метод

            private void WorkerThread( )
            {
                // download start time and duration
                DateTime start;
                TimeSpan span;

                while ( !stopEvent.WaitOne( 0, false ) )
                {
                    try
                    {
                        // start Qwerk's camera
                        videoStreamer.startCamera( );

                        while ( !stopEvent.WaitOne( 0, false ) )
                        {
                            // get download start time
                            start = DateTime.Now;

                            TeRKIceLib.Image qwerkImage = videoStreamer.getFrame( 0 );

                            // increase frames' and bytes' counters
                            framesReceived++;
                            bytesReceived += qwerkImage.data.Length;

                            if ( qwerkImage.format == TeRKIceLib.ImageFormat.ImageJPEG )
                            {
                                Bitmap image = (Bitmap) Image.FromStream( new MemoryStream( qwerkImage.data ) );

                                // notify clients
                                if ( NewFrame != null )
                                {
                                    NewFrame( this, new NewFrameEventArgs( image ) );
                                }

                                image.Dispose( );
                            }
                            else
                            {
                                if ( VideoSourceError != null )
                                {
                                    VideoSourceError( this, new VideoSourceErrorEventArgs( "Video frame has unsupported format: " + qwerkImage.format ) );
                                }
                            }

                            // wait for a while ?
                            if ( frameInterval > 0 )
                            {
                                // get download duration
                                span = DateTime.Now.Subtract( start );
                                // miliseconds to sleep
                                int msec = frameInterval - (int) span.TotalMilliseconds;

                                while ( ( msec > 0 ) && ( stopEvent.WaitOne( 0, false ) == false ) )
                                {
                                    // sleeping ...
                                    Thread.Sleep( ( msec < 100 ) ? msec : 100 );
                                    msec -= 100;
                                }
                            }
                        }

                        // stop Qwerk's camera
                        videoStreamer.stopCamera( );
                    }
                    catch ( Ice.SocketException )
                    {
                        if ( VideoSourceError != null )
                        {
                            VideoSourceError( this, new VideoSourceErrorEventArgs( "Connection lost to Qwerk's video service." ) );
                        }
                    }
                    catch
                    {
                        if ( VideoSourceError != null )
                        {
                            VideoSourceError( this, new VideoSourceErrorEventArgs( "Failed getting video frame from Qwerk." ) );
                        }
                    }
                }

                if ( PlayingFinished != null )
                {
                    PlayingFinished( this, ReasonToFinishPlaying.StoppedByUser );
                } 
            }
        }