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C# and unity #2592

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merged 6 commits into from
Oct 24, 2018
Merged

C# and unity #2592

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88a6a87
C# Wrapper
ogoshen Oct 18, 2018
5e92c4c
Unity Wrapper
ogoshen Oct 18, 2018
239dbb4
update Unity md
matkatz Oct 18, 2018
7fd2dee
fix C# sw device example
matkatz Oct 22, 2018
bc8cd0e
Unity - restore processing blocks options API
matkatz Oct 22, 2018
c3fa332
merge development
matkatz Oct 24, 2018
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7 changes: 6 additions & 1 deletion wrappers/csharp/Intel.RealSense/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ add_library(${PROJECT_NAME}
StreamProfile.cs
Types.cs
SoftwareDevice.cs
Option.cs
.nuget/Intel.RealSense.targets

Properties/AssemblyInfo.cs
Expand Down Expand Up @@ -56,4 +57,8 @@ add_dependencies(${PROJECT_NAME} realsense2)

set_target_properties (${PROJECT_NAME} PROPERTIES
FOLDER Wrappers/csharp
)
)

set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
"System"
)
10 changes: 8 additions & 2 deletions wrappers/csharp/Intel.RealSense/Device.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ internal Device(IntPtr dev)

public class CameraInfos
{
IntPtr m_device;
readonly IntPtr m_device;
public CameraInfos(IntPtr device) { m_device = device; }

public string this[CameraInfo info]
Expand Down Expand Up @@ -258,6 +258,12 @@ internal PlaybackDevice(IntPtr dev) : base(dev)

}


protected override void Dispose(bool disposing)
{
// Intentionally empty, does not own the native device, only wraps it.
}

public static PlaybackDevice FromDevice(Device dev)
{
object error;
Expand Down Expand Up @@ -346,7 +352,7 @@ public float Speed

public class RecordDevice : Device
{
IntPtr m_dev;
readonly IntPtr m_dev;

public RecordDevice(Device dev, string file) : base(IntPtr.Zero)
{
Expand Down
161 changes: 124 additions & 37 deletions wrappers/csharp/Intel.RealSense/Frame.cs
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Original file line number Diff line number Diff line change
@@ -1,20 +1,36 @@
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;

namespace Intel.RealSense
{
public class Frame : IDisposable
{
internal HandleRef m_instance;
public static readonly FramePool<Frame> Pool = new FramePool<Frame>(ptr => new Frame(ptr));

public IntPtr NativePtr { get { return m_instance.Handle; } }

public Frame(IntPtr ptr)
{
m_instance = new HandleRef(this, ptr);
NativeMethods.rs2_keep_frame(m_instance.Handle);
}

internal static Frame CreateFrame(IntPtr ptr)
{
object error;
if (NativeMethods.rs2_is_frame_extendable_to(ptr, Extension.Points, out error) > 0)
return Points.Pool.Get(ptr);
else if (NativeMethods.rs2_is_frame_extendable_to(ptr, Extension.DepthFrame, out error) > 0)
return DepthFrame.Pool.Get(ptr);
else if (NativeMethods.rs2_is_frame_extendable_to(ptr, Extension.VideoFrame, out error) > 0)
return VideoFrame.Pool.Get(ptr);
else
return Frame.Pool.Get(ptr);
}

#region IDisposable Support
private bool disposedValue = false; // To detect redundant calls
internal bool disposedValue = false; // To detect redundant calls

protected virtual void Dispose(bool disposing)
{
Expand Down Expand Up @@ -49,18 +65,28 @@ public void Dispose()
}
#endregion

public void Release()
public virtual void Release()
{
if (m_instance.Handle != IntPtr.Zero)
NativeMethods.rs2_release_frame(m_instance.Handle);
m_instance = new HandleRef(this, IntPtr.Zero);
Pool.Release(this);
}

public Frame Clone()
{
object error;
NativeMethods.rs2_frame_add_ref(m_instance.Handle, out error);
return new Frame(m_instance.Handle);
return CreateFrame(m_instance.Handle);
}

public bool IsComposite
{
get
{
object error;
return NativeMethods.rs2_is_frame_extendable_to(m_instance.Handle, Extension.CompositeFrame, out error) > 0;
}
}

public IntPtr Data
Expand All @@ -77,7 +103,7 @@ public StreamProfile Profile
get
{
object error;
return new StreamProfile(NativeMethods.rs2_get_frame_stream_profile(m_instance.Handle, out error));
return StreamProfile.Pool.Get(NativeMethods.rs2_get_frame_stream_profile(m_instance.Handle, out error));
}
}

Expand Down Expand Up @@ -115,6 +141,8 @@ public TimestampDomain TimestampDomain

public class VideoFrame : Frame
{
public static readonly new FramePool<VideoFrame> Pool = new FramePool<VideoFrame>(ptr => new VideoFrame(ptr));

public VideoFrame(IntPtr ptr) : base(ptr)
{
}
Expand Down Expand Up @@ -164,26 +192,69 @@ public int BitsPerPixel
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="array"></param>
//public void CopyTo<T>(out T[] array)
public void CopyTo<T>(T[] array)
{
if (array == null)
throw new ArgumentNullException("array");
throw new ArgumentNullException(nameof(array));
var handle = GCHandle.Alloc(array, GCHandleType.Pinned);
try
{
//System.Diagnostics.Debug.Assert((array.Length * Marshal.SizeOf(typeof(T))) == (Stride * Height));
CopyTo(handle.AddrOfPinnedObject());
}
finally
{
handle.Free();
}
}

public void CopyTo(IntPtr ptr)
{
//System.Diagnostics.Debug.Assert(ptr != IntPtr.Zero);
NativeMethods.memcpy(ptr, Data, Stride * Height);
}

/// <summary>
/// Copy from data from managed array
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="array"></param>
public void CopyFrom<T>(T[] array)
{
if (array == null)
throw new ArgumentNullException(nameof(array));
var handle = GCHandle.Alloc(array, GCHandleType.Pinned);
try
{
//System.Diagnostics.Debug.Assert((array.Length * Marshal.SizeOf(typeof(T))) == (Stride * Height));
NativeMethods.memcpy(handle.AddrOfPinnedObject(), Data, Stride * Height);
CopyFrom(handle.AddrOfPinnedObject());
}
finally
{
handle.Free();
}
}

public void CopyFrom(IntPtr ptr)
{
//System.Diagnostics.Debug.Assert(ptr != IntPtr.Zero);
NativeMethods.memcpy(Data, ptr, Stride * Height);
}

public override void Release()
{
//base.Release();
if (m_instance.Handle != IntPtr.Zero)
NativeMethods.rs2_release_frame(m_instance.Handle);
m_instance = new HandleRef(this, IntPtr.Zero);
Pool.Release(this);
}
}

public class DepthFrame : VideoFrame
{
public static readonly new FramePool<DepthFrame> Pool = new FramePool<DepthFrame>(ptr => new DepthFrame(ptr));

public DepthFrame(IntPtr ptr) : base(ptr)
{
}
Expand All @@ -193,11 +264,22 @@ public float GetDistance(int x, int y)
object error;
return NativeMethods.rs2_depth_frame_get_distance(m_instance.Handle, x, y, out error);
}

public override void Release()
{
//base.Release();
if (m_instance.Handle != IntPtr.Zero)
NativeMethods.rs2_release_frame(m_instance.Handle);
m_instance = new HandleRef(this, IntPtr.Zero);
Pool.Release(this);
}
}


public class Points : Frame
{
public static readonly new FramePool<Points> Pool = new FramePool<Points>(ptr => new Points(ptr));

[System.Runtime.InteropServices.StructLayout(System.Runtime.InteropServices.LayoutKind.Sequential)]
public struct Vertex
{
Expand All @@ -210,6 +292,7 @@ public struct TextureCoordinate
public float u;
public float v;
}

public Points(IntPtr ptr) : base(ptr)
{
}
Expand Down Expand Up @@ -240,7 +323,7 @@ public IntPtr VertexData
public void CopyTo(Vertex[] array)
{
if (array == null)
throw new ArgumentNullException("array");
throw new ArgumentNullException(nameof(array));
var handle = GCHandle.Alloc(array, GCHandleType.Pinned);
try
{
Expand All @@ -267,7 +350,7 @@ public IntPtr TextureData
public void CopyTo(TextureCoordinate[] textureArray)
{
if (textureArray == null)
throw new ArgumentNullException("textureArray");
throw new ArgumentNullException(nameof(textureArray));

var handle = GCHandle.Alloc(textureArray, GCHandleType.Pinned);
try
Expand All @@ -280,45 +363,49 @@ public void CopyTo(TextureCoordinate[] textureArray)
handle.Free();
}
}
}



class FrameMarshaler : ICustomMarshaler
{
private static FrameMarshaler Instance;

public static ICustomMarshaler GetInstance(string s)
{
if (Instance == null)
{
Instance = new FrameMarshaler();
}
return Instance;
}

public void CleanUpManagedData(object ManagedObj)
public override void Release()
{
//base.Release();
if (m_instance.Handle != IntPtr.Zero)
NativeMethods.rs2_release_frame(m_instance.Handle);
m_instance = new HandleRef(this, IntPtr.Zero);
Pool.Release(this);
}
}

public void CleanUpNativeData(IntPtr pNativeData)
{
}
public class FramePool<T> where T : Frame
{
readonly Stack<T> stack = new Stack<T>();
readonly object locker = new object();
readonly Func<IntPtr, T> factory;

public int GetNativeDataSize()
public FramePool(Func<IntPtr, T> factory)
{
//return IntPtr.Size;
return -1;
this.factory = factory;
}

public IntPtr MarshalManagedToNative(object ManagedObj)
public T Get(IntPtr ptr)
{
throw new NotImplementedException();

lock (locker)
{
if(stack.Count == 0)
return factory(ptr);
T f = stack.Pop();
f.m_instance = new HandleRef(f, ptr);
f.disposedValue = false;
//NativeMethods.rs2_keep_frame(ptr);
return f;
}
}

public object MarshalNativeToManaged(IntPtr pNativeData)
public void Release(T t)
{
return new Frame(pNativeData);
lock (locker)
{
stack.Push(t);
}
}
}
}
22 changes: 12 additions & 10 deletions wrappers/csharp/Intel.RealSense/FrameQueue.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -11,35 +11,37 @@ public class FrameQueue : IDisposable, IEnumerable<Frame>
{
internal HandleRef m_instance;

public FrameQueue(int capacity = 10)
public FrameQueue(int capacity = 1)
{
object error;
m_instance = new HandleRef(this, NativeMethods.rs2_create_frame_queue(capacity, out error));
}

public bool PollForFrame(out Frame frame, FramesReleaser releaser = null)
public bool PollForFrame(out Frame frame)
{
object error;
if (NativeMethods.rs2_poll_for_frame(m_instance.Handle, out frame, out error) > 0)
IntPtr ptr;
if (NativeMethods.rs2_poll_for_frame(m_instance.Handle, out ptr, out error) > 0)
{
frame = FramesReleaser.ScopedReturn(releaser, FrameSet.CreateFrame(frame.m_instance.Handle));
frame = Frame.CreateFrame(ptr);
return true;
}
frame = null;
return false;
}

public Frame WaitForFrame(FramesReleaser releaser = null)
public Frame WaitForFrame(uint timeout_ms = 5000)
{
object error;
var ptr = NativeMethods.rs2_wait_for_frame(m_instance.Handle, 5000, out error);
return FramesReleaser.ScopedReturn(releaser, FrameSet.CreateFrame(ptr));
var ptr = NativeMethods.rs2_wait_for_frame(m_instance.Handle, timeout_ms, out error);
return Frame.CreateFrame(ptr);
}

public FrameSet WaitForFrames(FramesReleaser releaser = null)
public FrameSet WaitForFrames(uint timeout_ms = 5000)
{
object error;
var ptr = NativeMethods.rs2_wait_for_frame(m_instance.Handle, 5000, out error);
return FramesReleaser.ScopedReturn(releaser, new FrameSet(ptr));
var ptr = NativeMethods.rs2_wait_for_frame(m_instance.Handle, timeout_ms, out error);
return FrameSet.Pool.Get(ptr);
}

public void Enqueue(Frame f)
Expand Down
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