C#中KinectV2手势触发异步打开窗体崩溃问题求助

我使用KinectV2与Project Praga实现手势识别，应用于媒体控制、智能家居控制等场景。当前遇到的问题是：通过手势触发异步方法打开MusicForm窗体时，该窗体发生崩溃；但通过按钮触发打开该窗体则可正常运行。

我已尝试将OnLoad方法修改为异步实现，并在Executor方法中添加线程ID检测、创建窗体句柄及通过BeginInvoke调用窗体显示的代码，获取到当前线程ID为6，但问题仍未解决。

初始崩溃代码 #

using Microsoft.Gestures;
using Microsoft.Gestures.Endpoint;
using System;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace UIControl
{
    public partial class KinectProject : Form
    {
        private static GesturesServiceEndpoint _gesturesService;
        private static Gesture _One;

        private void Form1_Load(object sender, EventArgs e)
        {
            this.Text = "Kinect Project Test";
        }

        public KinectProject()
        {
            InitializeComponent();
        }

        protected override void OnLoad(EventArgs e)
        {
            base.OnLoad(e); InitializeGestures();
        }

        private async task InitializeGestures()
        {
            var gesturesServiceHostName = "localhost";
            await RegisterGestures(gesturesServiceHostName);
        }

        private static async Task RegisterGestures(string gesturesServiceHostName)
        {
            _gesturesService = GesturesServiceEndpointFactory.Create(gesturesServiceHostName);
            await _gesturesService.ConnectAsync();
            await RegisterOneGesture();
        }

        private static async Task RegisterOneGesture()
        {
            var Iddle = new HandPose("iddle", new FingerPose(new AllFingersContext(), FingerFlexion.OpenStretched),
                                              new PalmPose(new AnyHandContext(), PoseDirection.Backward));

            var hold = new HandPose("Hold", new FingerPose(Finger.Index, FingerFlexion.Open, PoseDirection.Up),
                                            new FingerPose(new[] { Finger.Thumb, Finger.Middle, Finger.Ring, Finger.Pinky }, FingerFlexion.Folded),
                                            new PalmPose(new AnyHandContext(), PoseDirection.Backward));

            _One = new Gesture("One", Iddle, hold);
            _One.Triggered += (s, e) => Executor(s);
            await _gesturesService.RegisterGesture(_One, isGlobal: true);
        }

        private static void OnGestureDetected(object sender, GestureSegmentTriggeredEventArgs args, ConsoleColor foregroundColor)
        {
            Console.ForegroundColor = ConsoleColor.Red;
            Console.Write("Gesture detected! : ");
            Console.ForegroundColor = foregroundColor;
            Console.WriteLine(args.GestureSegment.Name);
            Console.ResetColor();
        }
        
        static void Executor(object sender, GestureSegmentTriggeredEventArgs args, ConsoleColor foregroundColor)
        {
            MusicForm V1 = new MusicForm();
            V1.Show();
        }
    }
}

修改后的尝试代码 #

protected override async void OnLoad(EventArgs e)
{
     base.OnLoad(e);
     await InitializeGestures();
}

private void Executor(object sender)
{
      int managedThreadId = Thread.CurrentThread.ManagedThreadId;
    MessageBox.Show("ManagedThreadId = " + managedThreadId);

    if (this.Handle == IntPtr.Zero)
    {
        CreateHandle();
    }
    this.BeginInvoke((MethodInvoker)(delegate
    {
        MusicForm V1 = new MusicForm();
        V1.Show();
    }));
}

内容的提问来源于stack exchange，提问作者DJxRott