/// <summary>
/// This method is used to pass frame into a processing block
/// </summary>
/// <param name="f">frame to process</param>
public void SubmitFrame(Frame f)
{
object error;
NativeMethods.rs2_frame_add_ref(f.Handle, out error);
NativeMethods.rs2_process_frame(Handle, f.Handle, out error);
}
public void SubmitFrame(Frame f, FramesReleaser releaser = null)
{
object error;
NativeMethods.rs2_frame_add_ref(f.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, f.m_instance.Handle, out error);
}
public Frame Clone()
{
object error;
NativeMethods.rs2_frame_add_ref(m_instance.Handle, out error);
return(new Frame(m_instance.Handle));
}
public void FrameReady(Frame f)
{
object error;
NativeMethods.rs2_frame_add_ref(f.m_instance.Handle, out error);
NativeMethods.rs2_synthetic_frame_ready(m_instance.Handle, f.m_instance.Handle, out error);
}
public FrameSet AllocateCompositeFrame(IList <Frame> frames)
{
if (frames == null)
{
throw new ArgumentNullException(nameof(frames));
}
IntPtr frame_refs = IntPtr.Zero;
try {
object error;
int fl = frames.Count;
frame_refs = Marshal.AllocHGlobal(fl * IntPtr.Size);
for (int i = 0; i < fl; i++)
{
var fr = frames[i].m_instance.Handle;
Marshal.WriteIntPtr(frame_refs, i * IntPtr.Size, fr);
NativeMethods.rs2_frame_add_ref(fr, out error);
}
var frame_ref = NativeMethods.rs2_allocate_composite_frame(m_instance.Handle, frame_refs, fl, out error);
return(FrameSet.Create(frame_ref));
}
finally
{
if (frame_refs != IntPtr.Zero)
{
Marshal.FreeHGlobal(frame_refs);
}
}
}
public void ProcessFrame(Frame f)
{
object error;
NativeMethods.rs2_frame_add_ref(f.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, f.m_instance.Handle, out error);
}
private void FrameReady(IntPtr ptr)
{
object error;
NativeMethods.rs2_frame_add_ref(ptr, out error);
NativeMethods.rs2_synthetic_frame_ready(m_instance.Handle, ptr, out error);
}
/// <summary>
/// Add a reference to this frame and return a clone, does not copy data
/// </summary>
/// <returns>A clone of this frame</returns>
public Frame Clone()
{
object error;
NativeMethods.rs2_frame_add_ref(Handle, out error);
return(Create(Handle));
}
public void Enqueue(Frame f)
{
object error;
NativeMethods.rs2_frame_add_ref(f.m_instance.Handle, out error);
NativeMethods.rs2_enqueue_frame(f.m_instance.Handle, m_instance.Handle);
}
public Frame AsFrame()
{
object error;
NativeMethods.rs2_frame_add_ref(m_instance.Handle, out error);
return(CreateFrame(m_instance.Handle));
}
public VideoFrame Colorize(VideoFrame original)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(queue.WaitForFrame() as VideoFrame);
}
public Points Calculate(Frame original)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(queue.WaitForFrame() as Points);
}
public FrameSet Process(FrameSet original)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(queue.WaitForFrames());
}
public FrameSet Process(FrameSet original, FramesReleaser releaser = null)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(FramesReleaser.ScopedReturn(releaser, queue.WaitForFrames() as FrameSet));
}
public VideoFrame Colorize(VideoFrame original, FramesReleaser releaser = null)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(FramesReleaser.ScopedReturn(releaser, queue.WaitForFrame() as VideoFrame));
}
public void MapTexture(VideoFrame texture)
{
object error;
Options[Option.TextureSource].Value = Convert.ToSingle(texture.Profile.UniqueID);
NativeMethods.rs2_frame_add_ref(texture.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, texture.m_instance.Handle, out error);
}
public Points Calculate(Frame original, FramesReleaser releaser = null)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(FramesReleaser.ScopedReturn(releaser, queue.WaitForFrame() as Points));
}
/// <summary>Returns a strongly-typed clone</summary>
/// <typeparam name="T"><see cref="Frame"/> type or subclass</typeparam>
/// <param name="other"><see cref="Frame"/> to clone</param>
/// <returns>an instance of <typeparamref name="T"/></returns>
public static T Create <T>(Frame other)
where T : Frame
{
object error;
NativeMethods.rs2_frame_add_ref(other.Handle, out error);
return(ObjectPool.Get <T>(other.Handle));
}
/// <summary>
/// This method is used to pass frames into a processing block
/// </summary>
/// <typeparam name="T"><see cref="Frame"/> type or subclass</typeparam>
/// <param name="f">Frame to process</param>
public void Process <T>(T f)
where T : Frame
{
object error;
NativeMethods.rs2_frame_add_ref(f.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, f.Handle, out error);
}
public void MapTo(Frame mapped)
{
this.Options.Where(s => s.Key == Option.TextureSource).First().Value = mapped.Profile.UniqueID;
object error;
NativeMethods.rs2_frame_add_ref(mapped.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, mapped.m_instance.Handle, out error);
}
public T As <T>() where T : Frame
{
using (this)
{
object error;
NativeMethods.rs2_frame_add_ref(m_instance.Handle, out error);
return(Create <T>(m_instance.Handle));
}
}
public static FrameSet FromFrame(Frame composite)
{
if (composite.IsComposite)
{
object error;
NativeMethods.rs2_frame_add_ref(composite.m_instance.Handle, out error);
return(FrameSet.Pool.Get(composite.m_instance.Handle));
}
throw new ArgumentException("The frame is a not composite frame", nameof(composite));
}
public void MapTexture(VideoFrame texture)
{
object error;
Options[Option.StreamFilter].Value = Convert.ToSingle(texture.Profile.Stream);
Options[Option.StreamFormatFilter].Value = Convert.ToSingle(texture.Profile.Format);
Options[Option.StreamIndexFilter].Value = Convert.ToSingle(texture.Profile.Index);
NativeMethods.rs2_frame_add_ref(texture.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, texture.m_instance.Handle, out error);
}
public static FrameSet FromFrame(Frame composite, FramesReleaser releaser = null)
{
object error;
if (NativeMethods.rs2_is_frame_extendable_to(composite.m_instance.Handle,
Extension.CompositeFrame, out error) > 0)
{
NativeMethods.rs2_frame_add_ref(composite.m_instance.Handle, out error);
return(FramesReleaser.ScopedReturn(releaser, new FrameSet(composite.m_instance.Handle)));
}
throw new Exception("The frame is a not composite frame");
}
public FrameSet AllocateCompositeFrame(FramesReleaser releaser, params Frame[] frames)
{
object error;
var frame_refs = frames.Select(x => x.m_instance.Handle).ToArray();
foreach (var fref in frame_refs)
{
NativeMethods.rs2_frame_add_ref(fref, out error);
}
var frame_ref = NativeMethods.rs2_allocate_composite_frame(m_instance.Handle, frame_refs, frames.Count(), out error);
return(FramesReleaser.ScopedReturn(releaser, new FrameSet(frame_ref)));
}
/// <summary>
/// Process frame and return the result
/// </summary>
/// <param name="original"></param>
/// <returns></returns>
public Frame Process(Frame original)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
Frame f;
if (queue.PollForFrame(out f))
{
return(f);
}
return(original);
}
/// <summary>
/// Process frame and return the result
/// </summary>
/// <typeparam name="T">Type of frame to return</typeparam>
/// <param name="original">Frame to process</param>
/// <returns>Processed frame</returns>
/// <exception cref="InvalidOperationException">Thrown when errors occur during processing</exception>
public T Process <T>(Frame original)
where T : Frame
{
object error;
NativeMethods.rs2_frame_add_ref(original.Handle, out error);
NativeMethods.rs2_process_frame(Handle, original.Handle, out error);
T f;
if (queue.PollForFrame <T>(out f))
{
return(f);
}
// this occurs when the sdk runs out of frame resources and allocate_video_frame fails
// sadly, that exception doesn't propagate here...
// usually a sign of not properly disposing of frames
throw new InvalidOperationException($"Error while running {GetType().Name} processing block, check the log for info");
}
