public void GetPointMapping(ref LEAP_POINT_MAPPING pm)
{
UInt64 size = 0;
IntPtr buffer = IntPtr.Zero;
while (true)
{
eLeapRS result = LeapC.GetPointMapping(_leapConnection, buffer, ref size);
if (result == eLeapRS.eLeapRS_InsufficientBuffer)
{
if (buffer != IntPtr.Zero)
{
Marshal.FreeHGlobal(buffer);
}
buffer = Marshal.AllocHGlobal((Int32)size);
continue;
}
reportAbnormalResults("LeapC get point mapping call was ", result);
if (result != eLeapRS.eLeapRS_Success)
{
pm.nPoints = 0;
pm.points = null;
pm.ids = null;
return;
}
break;
}
LEAP_POINT_MAPPING_INTERNAL pmi;
StructMarshal <LEAP_POINT_MAPPING_INTERNAL> .PtrToStruct(buffer, out pmi);
Int32 nPoints = (Int32)pmi.nPoints;
pm.frame_id = pmi.frame_id;
pm.timestamp = pmi.timestamp;
pm.nPoints = pmi.nPoints;
pm.points = new LEAP_VECTOR[nPoints];
pm.ids = new UInt32[nPoints];
float[] points = new float[3 * nPoints];
Int32[] ids = new Int32[nPoints];
Marshal.Copy(pmi.points, points, 0, 3 * nPoints);
Marshal.Copy(pmi.ids, ids, 0, nPoints);
int j = 0;
for (int i = 0; i < nPoints; i++)
{
pm.points[i].x = points[j++];
pm.points[i].y = points[j++];
pm.points[i].z = points[j++];
pm.ids[i] = unchecked ((UInt32)ids[i]);
}
Marshal.FreeHGlobal(buffer);
}
