private Device(NativeMethods.k4a_device_t handle)
{
// Hook the native allocator and register this object.
// .Dispose() will be called on this object when the allocator is shut down.
Allocator.Singleton.RegisterForDisposal(this);
this.handle = handle;
}
/// <summary>
/// Releases unmanaged and - optionally - managed resources.
/// </summary>
/// <param name="disposing"><c>True</c> to release both managed and unmanaged resources; <c>False</c> to release only unmanaged resources.</param>
protected virtual void Dispose(bool disposing)
{
if (!this.disposedValue)
{
if (disposing)
{
Allocator.Singleton.UnregisterForDisposal(this);
this.handle.Close();
this.handle = null;
this.disposedValue = true;
}
}
}
private bool disposedValue = false; // To detect redundant calls
protected virtual void Dispose(bool disposing)
{
if (!disposedValue)
{
if (disposing)
{
// TODO: dispose managed state (managed objects).
}
// TODO: free unmanaged resources (unmanaged objects) and override a finalizer below.
// TODO: set large fields to null.
handle.Close();
handle = null;
disposedValue = true;
}
}
/// <summary>
/// Opens an Azure Kinect device.
/// </summary>
/// <param name="index">Index of the device to open if there are multiple connected.</param>
/// <returns>A Device object representing that device.</returns>
/// <remarks>The device will remain opened for exclusive access until the Device object is disposed.</remarks>
public static Device Open(int index = 0)
{
NativeMethods.k4a_device_t handle = default;
AzureKinectOpenDeviceException.ThrowIfNotSuccess(() => NativeMethods.k4a_device_open((uint)index, out handle));
return(new Device(handle));
}
private Device(NativeMethods.k4a_device_t handle)
{
this.handle = handle;
}
