/// <summary> Gets a deep copy of the point cloud data from the interop. /// </summary>
/// <param name="pcd">The point cloud data object to store the data in.</param>
/// <param name="metadata">The metadata object to store the data in.</param>
public void SetPointCloudDataFromInteropData(PointCloudData <TPoint> pcd, PointCloudMetaData metadata)
{
lock (_cloudDataLock)
{
PointCloudData <TPoint> .ConvertFromInteropData(ref pcd, metadata, _pointCloudInteropData, _pointCloudVertices);
}
}
/// <summary> Updates the point cloud interop data from kernel. </summary>
private void UpdatePointCloudInteropDataFromKernel()
{
if (_pointCloudData == null)
{
this.GetPointCloudMetaData();
return;
}
if (!HandKernelInterop.GetPointCloudData(ref _pointCloudInteropData))
{
return;
}
Marshal.Copy(_pointCloudInteropData.data, _pointCloudVertices, 0, _pointCloudInteropData.size * (_pointCloudMetaData.pointSize / 4));
lock (_cloudDataLock)
{
PointCloudData <TPoint> .ConvertFromInteropData(ref _pointCloudData, _pointCloudMetaData, _pointCloudInteropData, _pointCloudVertices);
}
}
