unsafe public static List <DeviceInfo> GetDeviceList()
{
int deviceCount = -1;
OniDeviceInfo *deviceList = (OniDeviceInfo *)IntPtr.Zero;
OniStatus status = oniGetDeviceList(&deviceList, ref deviceCount);
HandleError(status);
List <DeviceInfo> list = new List <DeviceInfo>();
for (int i = 0; i < deviceCount; i++)
{
DeviceInfo tmpInfo = new DeviceInfo();
OniDeviceInfo deviceInfo = deviceList[i];
tmpInfo.uri = Marshal.PtrToStringAnsi((IntPtr)deviceInfo.uri);
tmpInfo.name = Marshal.PtrToStringAnsi((IntPtr)deviceInfo.name);
tmpInfo.vendor = Marshal.PtrToStringAnsi((IntPtr)deviceInfo.vendor);
tmpInfo.usbProductId = deviceInfo.usbProductId;
tmpInfo.usbVendorId = deviceInfo.usbVendorId;
list.Add(tmpInfo);
}
oniReleaseDeviceList((IntPtr)deviceList);
return(list);
}
public static void ThrowExectionIfStatusIsNotOk(this OniStatus status)
{
switch (status)
{
case OniStatus.ONI_STATUS_OK:
return;
case OniStatus.ONI_STATUS_NOT_IMPLEMENTED:
throw new NotImplementedException();
case OniStatus.ONI_STATUS_NOT_SUPPORTED:
throw new NotSupportedException();
case OniStatus.ONI_STATUS_ERROR:
case OniStatus.ONI_STATUS_BAD_PARAMETER:
case OniStatus.ONI_STATUS_OUT_OF_FLOW:
case OniStatus.ONI_STATUS_NO_DEVICE:
var message = OpenNI.GetExtendedError();
throw new OpenNIException(message);
case OniStatus.ONI_STATUS_TIME_OUT:
throw new TimeoutException();
default:
throw new ArgumentOutOfRangeException("status", string.Format("Unkown status :{0}.", status));
}
}
unsafe public static Frame ReadFrame(Stream stream)
{
OniFrame *frameHandle = (OniFrame *)IntPtr.Zero;
OniStatus status = oniStreamReadFrame(stream.Handle, &frameHandle);
HandleError(status);
return(new Frame((IntPtr)frameHandle));
}
unsafe public static Stream CreateStream(Device dev, OniSensorType type)
{
IntPtr streamHandle = IntPtr.Zero;
OniStatus status = oniDeviceCreateStream(dev.Handle, type, &streamHandle);
HandleError(status);
return(new Stream(streamHandle));
}
unsafe public static Device OpenDevice(string URI)
{
IntPtr deviceHandle = IntPtr.Zero;
OniStatus status = oniDeviceOpen(URI, &deviceHandle);
HandleError(status);
return(new Device(deviceHandle));
}
unsafe private static void HandleError(OniStatus status)
{
if (status == OniStatus.OK)
{
return;
}
char * msg = oniGetExtendedError();
string errorMsg = Marshal.PtrToStringAnsi((IntPtr)msg);
throw new Exception(errorMsg);
}
unsafe public static void StartStream(Stream stream)
{
OniStatus status = oniStreamStart(stream.Handle);
HandleError(status);
}
public static void Init()
{
OniStatus status = oniInitialize(ONI_API_VERSION);
HandleError(status);
}
