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RsDevice.cs
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RsDevice.cs
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using System;
using System.Threading;
using UnityEngine;
using Intel.RealSense;
using System.Collections;
using System.Linq;
/// <summary>
/// Manages streaming using a RealSense Device
/// </summary>
[HelpURL("https://github.com/IntelRealSense/librealsense/tree/master/wrappers/unity")]
public class RsDevice : RsFrameProvider
{
/// <summary>
/// The parallelism mode of the module
/// </summary>
public enum ProcessMode
{
Multithread,
UnityThread,
}
// public static RsDevice Instance { get; private set; }
/// <summary>
/// Threading mode of operation, Multithread or UnityThread
/// </summary>
[Tooltip("Threading mode of operation, Multithreads or Unitythread")]
public ProcessMode processMode;
// public bool Streaming { get; private set; }
/// <summary>
/// Notifies upon streaming start
/// </summary>
public override event Action<PipelineProfile> OnStart;
/// <summary>
/// Notifies when streaming has stopped
/// </summary>
public override event Action OnStop;
/// <summary>
/// Fired when a new frame is available
/// </summary>
public override event Action<Frame> OnNewSample;
/// <summary>
/// User configuration
/// </summary>
public RsConfiguration DeviceConfiguration = new RsConfiguration
{
mode = RsConfiguration.Mode.Live,
RequestedSerialNumber = string.Empty,
Profiles = new RsVideoStreamRequest[] {
new RsVideoStreamRequest {Stream = Stream.Depth, StreamIndex = -1, Width = 640, Height = 480, Format = Format.Z16 , Framerate = 30 },
new RsVideoStreamRequest {Stream = Stream.Infrared, StreamIndex = -1, Width = 640, Height = 480, Format = Format.Y8 , Framerate = 30 },
new RsVideoStreamRequest {Stream = Stream.Color, StreamIndex = -1, Width = 640, Height = 480, Format = Format.Rgb8 , Framerate = 30 }
}
};
private Thread worker;
private readonly AutoResetEvent stopEvent = new AutoResetEvent(false);
private Pipeline m_pipeline;
void OnEnable()
{
m_pipeline = new Pipeline();
using (var cfg = DeviceConfiguration.ToPipelineConfig())
ActiveProfile = m_pipeline.Start(cfg);
DeviceConfiguration.Profiles = ActiveProfile.Streams.Select(RsVideoStreamRequest.FromProfile).ToArray();
if (processMode == ProcessMode.Multithread)
{
stopEvent.Reset();
worker = new Thread(WaitForFrames);
worker.IsBackground = true;
worker.Start();
}
StartCoroutine(WaitAndStart());
}
IEnumerator WaitAndStart()
{
yield return new WaitForEndOfFrame();
Streaming = true;
if (OnStart != null)
OnStart(ActiveProfile);
}
void OnDisable()
{
OnNewSample = null;
// OnNewSampleSet = null;
if (worker != null)
{
stopEvent.Set();
worker.Join();
}
if (Streaming && OnStop != null)
OnStop();
if (ActiveProfile != null)
{
ActiveProfile.Dispose();
ActiveProfile = null;
}
if (m_pipeline != null)
{
// if (Streaming)
// m_pipeline.Stop();
m_pipeline.Dispose();
m_pipeline = null;
}
Streaming = false;
}
void OnDestroy()
{
// OnStart = null;
OnStop = null;
if (ActiveProfile != null)
{
ActiveProfile.Dispose();
ActiveProfile = null;
}
if (m_pipeline != null)
{
m_pipeline.Dispose();
m_pipeline = null;
}
}
private void RaiseSampleEvent(Frame frame)
{
var onNewSample = OnNewSample;
if (onNewSample != null)
{
onNewSample(frame);
}
}
/// <summary>
/// Worker Thread for multithreaded operations
/// </summary>
private void WaitForFrames()
{
while (!stopEvent.WaitOne(0))
{
using (var frames = m_pipeline.WaitForFrames())
RaiseSampleEvent(frames);
}
}
void Update()
{
if (!Streaming)
return;
if (processMode != ProcessMode.UnityThread)
return;
FrameSet frames;
if (m_pipeline.PollForFrames(out frames))
{
using (frames)
RaiseSampleEvent(frames);
}
}
}