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102 lines
3.8 KiB
102 lines
3.8 KiB
// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
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namespace Intel.RealSense
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{
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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public struct FrameSource
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{
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internal readonly HandleRef m_instance;
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internal FrameSource(HandleRef instance)
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{
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m_instance = instance;
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}
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public T AllocateVideoFrame<T>(StreamProfile profile, Frame original, int bpp, int width, int height, int stride, Extension extension = Extension.VideoFrame)
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where T : Frame
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{
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object error;
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var fref = NativeMethods.rs2_allocate_synthetic_video_frame(m_instance.Handle, profile.Handle, original.Handle, bpp, width, height, stride, extension, out error);
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return Frame.Create<T>(fref);
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}
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public T AllocateMotionFrame<T>(StreamProfile profile, Frame original, Extension extension = Extension.VideoFrame)
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where T : Frame
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{
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object error;
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var fref = NativeMethods.rs2_allocate_synthetic_motion_frame(m_instance.Handle, profile.Handle, original.Handle, extension, out error);
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return Frame.Create<T>(fref);
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}
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[Obsolete("This method is obsolete. Use AllocateCompositeFrame with DisposeWith method instead")]
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public FrameSet AllocateCompositeFrame(FramesReleaser releaser, params Frame[] frames)
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{
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return AllocateCompositeFrame((IList<Frame>)frames).DisposeWith(releaser);
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}
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/// <summary>
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/// Allocate new composite frame, aggregating a set of existing frames
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/// </summary>
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/// <param name="frames">array of frames</param>
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/// <returns>a newly allocated frame</returns>
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public FrameSet AllocateCompositeFrame(params Frame[] frames)
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{
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return AllocateCompositeFrame((IList<Frame>)frames);
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}
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/// <summary>
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/// Allocate new composite frame, aggregating a set of existing frames
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/// </summary>
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/// <param name="frames">list of frames</param>
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/// <returns>a newly allocated frame</returns>
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/// <exception cref="ArgumentNullException">Thrown when <paramref name="frames"/> is null</exception>
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public FrameSet AllocateCompositeFrame(IList<Frame> frames)
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{
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if (frames == null)
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{
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throw new ArgumentNullException(nameof(frames));
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}
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IntPtr frame_refs = IntPtr.Zero;
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try
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{
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object error;
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int fl = frames.Count;
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frame_refs = Marshal.AllocHGlobal(fl * IntPtr.Size);
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for (int i = 0; i < fl; i++)
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{
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var fr = frames[i].Handle;
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Marshal.WriteIntPtr(frame_refs, i * IntPtr.Size, fr);
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NativeMethods.rs2_frame_add_ref(fr, out error);
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}
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var frame_ref = NativeMethods.rs2_allocate_composite_frame(m_instance.Handle, frame_refs, fl, out error);
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return FrameSet.Create(frame_ref);
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}
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finally
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{
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if (frame_refs != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(frame_refs);
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}
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}
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}
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/// <summary>
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/// This method will dispatch frame callback on a frame
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/// </summary>
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/// <param name="f">frame to dispatch</param>
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public void FrameReady(Frame f)
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{
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object error;
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NativeMethods.rs2_frame_add_ref(f.Handle, out error);
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NativeMethods.rs2_synthetic_frame_ready(m_instance.Handle, f.Handle, out error);
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}
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}
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} |