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Fix GetDistance() issue for SoftwareDevice in C# #12193

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merged 3 commits into from
Sep 18, 2023
Merged

Fix GetDistance() issue for SoftwareDevice in C# #12193

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714c698
Fix GetDistance() issue for SoftwareDevice in C#
hsuys Sep 13, 2023
ad3c51c
Change default depthUnits to 0
hsuys Sep 14, 2023
a0986ed
Add depth unit for sw depth frame
hsuys Sep 14, 2023
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5 changes: 3 additions & 2 deletions wrappers/csharp/Intel.RealSense/Sensors/SoftwareSensor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ public void AddVideoFrame(SoftwareVideoFrame f)
NativeMethods.rs2_software_sensor_on_video_frame(Handle, f, out error);
}

public void AddVideoFrame<T>(T[] pixels, int stride, int bpp, double timestamp, TimestampDomain domain, int frameNumber, VideoStreamProfile profile)
public void AddVideoFrame<T>(T[] pixels, int stride, int bpp, double timestamp, TimestampDomain domain, int frameNumber, VideoStreamProfile profile, float depthUnits = 0f)
{
// TODO: avoid copy by adding void* user_data to native methods, so we can pass GCHandle.ToIntPtr() and free in deleter
IntPtr hglobal = Marshal.AllocHGlobal(profile.Height * stride);
Expand All @@ -44,7 +44,8 @@ public void AddVideoFrame<T>(T[] pixels, int stride, int bpp, double timestamp,
timestamp = timestamp,
domain = domain,
frame_number = frameNumber,
profile = profile.Handle
profile = profile.Handle,
depth_units = depthUnits
});
}

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1 change: 1 addition & 0 deletions wrappers/csharp/Intel.RealSense/Types/SoftwareVideoFrame.cs
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Expand Up @@ -19,5 +19,6 @@ public class SoftwareVideoFrame
public TimestampDomain domain;
public int frame_number;
public IntPtr profile;
public float depth_units;
}
}
4 changes: 3 additions & 1 deletion wrappers/csharp/tutorial/software-dev/Window.xaml.cs
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Expand Up @@ -188,11 +188,13 @@ public CaptureWindow()

depthData = depthData ?? new ushort[depthFrame.Width * depthFrame.Height];
depthFrame.CopyTo(depthData);
// Construct SW depth frame for SW depth sensor and initialize Depth Unit
depth_sensor.AddVideoFrame(depthData, depthFrame.Stride, depthFrame.BitsPerPixel / 8, depthFrame.Timestamp,
depthFrame.TimestampDomain, (int)depthFrame.Number, depth_profile);
depthFrame.TimestampDomain, (int)depthFrame.Number, depth_profile, realDepthSensor.DepthScale);

colorData = colorData ?? new byte[colorFrame.Stride * colorFrame.Height];
colorFrame.CopyTo(colorData);
// Construct SW color frame for SW color sensor
color_sensor.AddVideoFrame(colorData, colorFrame.Stride, colorFrame.BitsPerPixel / 8, colorFrame.Timestamp,
colorFrame.TimestampDomain, (int)colorFrame.Number, color_profile);
}
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