public void AddVideoFrame(byte[] pixels, int stride, int bpp, double timestamp, TimestampDomain domain, int frameNumber, VideoStreamProfile profile)
{
object error;
IntPtr hglobal = Marshal.AllocHGlobal(profile.Height * stride);
var del = new frame_deleter(p => { Marshal.FreeHGlobal(p); });
Marshal.Copy(pixels, 0, hglobal, profile.Height * stride);
var s = new NativeMethods.SoftwareVideoFrame
{
pixels = hglobal,
deleter = del,
stride = stride,
bpp = bpp,
timestamp = timestamp,
domain = domain,
frame_number = frameNumber,
profile = profile.m_instance.Handle
};
NativeMethods.rs2_software_sensor_on_video_frame(m_instance, s, out error);
}
public void AddVideoFrame(byte[] pixels, int stride, int bpp, double timestamp, TimestampDomain domain, int frameNumber, VideoStreamProfile profile)
{
IntPtr hglobal = Marshal.AllocHGlobal(profile.Height * stride);
Marshal.Copy(pixels, 0, hglobal, profile.Height * stride);
AddVideoFrame(new SoftwareVideoFrame
{
pixels = hglobal,
deleter = (p) => { Marshal.FreeHGlobal(p); },
stride = stride,
bpp = bpp,
timestamp = timestamp,
domain = domain,
frame_number = frameNumber,
profile = profile.m_instance.Handle
});
}
public void AddVideoFrame <T>(T[] pixels, int stride, int bpp, double timestamp, TimestampDomain domain, int frameNumber, VideoStreamProfile profile)
{
//TODO: avoid copy by adding void* user_data to native methods, so we can pass GCHandle.ToIntPtr() and free in deleter
IntPtr hglobal = Marshal.AllocHGlobal(profile.Height * stride);
var handle = GCHandle.Alloc(pixels, GCHandleType.Pinned);
try
{
NativeMethods.memcpy(hglobal, handle.AddrOfPinnedObject(), profile.Height * stride);
}
finally
{
handle.Free();
}
AddVideoFrame(new SoftwareVideoFrame
{
pixels = hglobal,
deleter = (p) => { Marshal.FreeHGlobal(p); },
stride = stride,
bpp = bpp,
timestamp = timestamp,
domain = domain,
frame_number = frameNumber,
profile = profile.m_instance.Handle
});
}
