/// <summary>
/// Gets the latest depth frame.
/// </summary>
/// <param name="buffer"> Buffer to be filled out for depth.</param>
/// <param name="timestamp"> Gets filled with the current depth timestamp.</param>
/// <returns> True if the API returns success.</returns>
public static bool GetLatestFrame(ref int[] buffer, ref double timestamp)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"DepthProvider.GetLatestFrame : Not Initialized!");
return(false);
}
if (buffer.Length < Common.DepthBufferSize)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Wrong depth buffer size");
return(false);
}
GCHandle bufferHandler = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Common.RetCodes retCode = (Common.RetCodes)TangoDepthAPI.DepthGetLatestFrame(TangoApplication.Instance.Handle,
bufferHandler.AddrOfPinnedObject(),
Common.DepthBufferSize,
ref timestamp);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"Failed to get depth buffer with error:" + retCode);
}
bufferHandler.Free();
return(retCode == Common.RetCodes.kCAPISuccess);
}
/// <summary>
/// Shutdown the depth provider.
/// </summary>
public static void ShutDown()
{
m_isInit = false;
TangoDepthAPI.DepthStopBuffering(TangoApplication.Instance.Handle);
}
/// <summary>
/// Initialize the depth provider.
/// </summary>
public static void Init()
{
m_isInit = true;
TangoDepthAPI.DepthStartBuffering(TangoApplication.Instance.Handle);
}
