protected override void Dispose(bool disposing)
{
if (disposing == false)
{
return;
}
OniCAPI.oniFrameRelease(_pFrame);
}
public static unsafe void DepthToColor(SensorStream depthStream, SensorStream colorStream, int depthX, int depthY, ushort depthZ, ref int colorX, ref int colorY)
{
fixed(int *pColorX = &colorX)
fixed(int *pColorY = &colorY)
{
OniCAPI.oniCoordinateConverterDepthToColor(depthStream.Handler, colorStream.Handler, depthX, depthY, depthZ, pColorX, pColorY).ThrowExectionIfStatusIsNotOk();
}
}
public static unsafe void DepthToWorld(SensorStream depthStream, float depthX, float depthY, float depthZ, ref float worldX, ref float worldY, ref float worldZ)
{
fixed(float *pWorldX = &worldX)
fixed(float *pWorldY = &worldY)
fixed(float *pWorldZ = &worldZ)
{
OniCAPI.oniCoordinateConverterDepthToWorld(depthStream.Handler, depthX, depthY, depthZ, pWorldX, pWorldY, pWorldZ).ThrowExectionIfStatusIsNotOk();
}
}
public static unsafe void WorldToDepth(SensorStream depthStream, float worldX, float worldY, float worldZ, ref float depthX, ref float depthY, ref float depthZ)
{
fixed(float *pDepthX = &depthX)
fixed(float *pDepthY = &depthY)
fixed(float *pDepthZ = &depthZ)
{
OniCAPI.oniCoordinateConverterWorldToDepth(depthStream.Handler, worldX, worldY, worldZ, pDepthX, pDepthY, pDepthZ).ThrowExectionIfStatusIsNotOk();
}
}
public static unsafe string GetLogFileName()
{
const int MAX_PATH = 260;
void * pFileName = stackalloc byte[MAX_PATH];
OniCAPI.oniGetLogFileName((byte *)pFileName, MAX_PATH).ThrowExectionIfStatusIsNotOk();
var fileName = Marshal.PtrToStringAnsi((IntPtr)pFileName);
return(fileName);
}
public static unsafe DeviceInfo[] GetDevices()
{
OniDeviceInfo *pDevices = null;
var count = 0;
OniCAPI.oniGetDeviceList(&pDevices, &count).ThrowExectionIfStatusIsNotOk();
var devices = new DeviceInfo[count];
for (var i = 0; i < count; i++)
{
var oniDeviceInfo = pDevices[i];
devices[i] = oniDeviceInfo.ToManaged();
}
OniCAPI.oniReleaseDeviceList(pDevices).ThrowExectionIfStatusIsNotOk();
return(devices);
}
public static string GetExtendedError()
{
var message = OniCAPI.oniGetExtendedError();
return(message);
}
public static void SetLogOutputFolder(string outputFolder)
{
OniCAPI.oniSetLogOutputFolder(outputFolder).ThrowExectionIfStatusIsNotOk();
}
public static void SetLogFileOutput(bool fileOutput)
{
OniCAPI.oniSetLogFileOutput(fileOutput ? 1 : 0).ThrowExectionIfStatusIsNotOk();
}
public static void SetLogConsoleOutput(bool consoleOutput)
{
OniCAPI.oniSetLogConsoleOutput(consoleOutput ? 1 : 0).ThrowExectionIfStatusIsNotOk();
}
public static void SetLogMinSeverity(int minSeverity)
{
OniCAPI.oniSetLogMinSeverity(minSeverity).ThrowExectionIfStatusIsNotOk();
}
public static OpenNIVersion GetVersion() => OniCAPI.oniGetVersion().ToManaged();
public static void Shutdown()
{
OniCAPI.oniShutdown();
}
public static void Initialize()
{
OniCAPI.oniInitialize(OniCAPI.ONI_VERSION).ThrowExectionIfStatusIsNotOk();
}
public static int BytesPerPixel(this PixelFormat pixelFormat) => OniCAPI.oniFormatBytesPerPixel(pixelFormat.ToNative());
