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On-chip calibration support in csharp wrapper #7915

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Dec 7, 2020
Merged

On-chip calibration support in csharp wrapper #7915

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70 changes: 70 additions & 0 deletions wrappers/csharp/Intel.RealSense/Devices/AutoCalibratedDevice.cs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,70 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

namespace Intel.RealSense
{
using System;
using System.Runtime.InteropServices;

public class AutoCalibratedDevice : CalibratedDevice
{
internal AutoCalibratedDevice(IntPtr dev)
: base(dev)
{ }
public static AutoCalibratedDevice FromDevice(Device dev)
{
object error;
if (NativeMethods.rs2_is_device_extendable_to(dev.Handle, Extension.AutoCalibratedDevice, out error) == 0)
{
throw new ArgumentException($"Device does not support {nameof(Extension.AutoCalibratedDevice)}");
}

return Device.Create<AutoCalibratedDevice>(dev.Handle);
}

public byte[] RunOnChipCalibration(string json, out float health, int timeout_ms)
{
object error;
IntPtr rawDataBuffer = NativeMethods.rs2_run_on_chip_calibration(Handle, json, json.Length, out health, null, IntPtr.Zero, timeout_ms, out error);
return GetByteArrayFromRawDataObject(rawDataBuffer);
}

public byte[] RunTareCalibration(float ground_truth_mm, string json, int timeout_ms)
{
object error;
IntPtr rawDataBuffer = NativeMethods.rs2_run_tare_calibration(Handle, ground_truth_mm, json, json.Length, null, IntPtr.Zero, timeout_ms, out error);
return GetByteArrayFromRawDataObject(rawDataBuffer);
}

public byte[] CalibrationTable
{
get
{
object error;
IntPtr rawDataBuffer = NativeMethods.rs2_get_calibration_table(Handle, out error);
return GetByteArrayFromRawDataObject(rawDataBuffer);
}
set
{
IntPtr rawCalibrationTable = Marshal.AllocHGlobal(value.Length);
Marshal.Copy(value, 0, rawCalibrationTable, value.Length);
object error;
NativeMethods.rs2_set_calibration_table(Handle, rawCalibrationTable, value.Length, out error);
Marshal.FreeHGlobal(rawCalibrationTable);
}
}

byte[] GetByteArrayFromRawDataObject(IntPtr raw)
{
object error;
var start = NativeMethods.rs2_get_raw_data(raw, out error);
var size = NativeMethods.rs2_get_raw_data_size(raw, out error);

byte[] managedBytes = new byte[size];
Marshal.Copy(start, managedBytes, 0, size);

NativeMethods.rs2_delete_raw_data(raw);
return managedBytes;
}
}
}
2 changes: 2 additions & 0 deletions wrappers/csharp/Intel.RealSense/Devices/CMakeLists.txt
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@@ -1,6 +1,8 @@
target_sources(${LRS_DOTNET_TARGET}
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/AdvancedDevice.cs"
"${CMAKE_CURRENT_LIST_DIR}/AutoCalibratedDevice.cs"
"${CMAKE_CURRENT_LIST_DIR}/CalibratedDevice.cs"
"${CMAKE_CURRENT_LIST_DIR}/DebugDevice.cs"
"${CMAKE_CURRENT_LIST_DIR}/Device.cs"
"${CMAKE_CURRENT_LIST_DIR}/DeviceList.cs"
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31 changes: 31 additions & 0 deletions wrappers/csharp/Intel.RealSense/Devices/CalibratedDevice.cs
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@@ -0,0 +1,31 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

namespace Intel.RealSense
{
using System;

public class CalibratedDevice : Device
{
internal CalibratedDevice(IntPtr dev)
: base(dev)
{ }

public static CalibratedDevice FromDevice(Device dev)
{
return Device.Create<CalibratedDevice>(dev.Handle); ;
}

public void WriteCalibration()
{
object error;
NativeMethods.rs2_write_calibration(Handle, out error);
}

public void reset_to_factory_calibration()
{
object error;
NativeMethods.rs2_reset_to_factory_calibration(Handle, out error);
}
}
}
77 changes: 42 additions & 35 deletions wrappers/csharp/Intel.RealSense/NativeMethods.cs
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Expand Up @@ -53,7 +53,7 @@ internal static MemCpyDelegate GetMethod()
[DllImport("msvcrt.dll", EntryPoint = "memcpy", CallingConvention = CallingConvention.Cdecl, SetLastError = false)]
internal static extern IntPtr win_memcpy(IntPtr dest, IntPtr src, int count);

#region rs_record_playback
#region rs_record_playback
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_record_device(IntPtr device, [MarshalAs(UnmanagedType.LPStr)] string file, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -104,9 +104,8 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_playback_device_stop(IntPtr device, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_processing
#endregion
#region rs_processing
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_colorizer([MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -193,7 +192,6 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_sequence_id_filter([MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_option
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
Expand Down Expand Up @@ -228,9 +226,8 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_get_option_value_description(IntPtr options, Option option, float value, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_frame
#endregion
#region rs_frame
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern long rs2_get_frame_metadata(IntPtr frame, FrameMetadataValue frame_metadata, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -301,10 +298,10 @@ internal static MemCpyDelegate GetMethod()
internal static extern IntPtr rs2_allocate_synthetic_motion_frame(IntPtr source, IntPtr new_stream, IntPtr original, Extension frame_type, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_allocate_composite_frame(IntPtr source, [In]IntPtr[] frames, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
internal static extern IntPtr rs2_allocate_composite_frame(IntPtr source, [In] IntPtr[] frames, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_allocate_composite_frame(IntPtr source, [In]IntPtr frames, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
internal static extern IntPtr rs2_allocate_composite_frame(IntPtr source, [In] IntPtr frames, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_extract_frame(IntPtr composite, int index, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
Expand All @@ -317,9 +314,8 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_pose_frame_get_pose_data(IntPtr frame, [In, Out] Pose pose, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_sensor
#endregion
#region rs_sensor
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_delete_sensor_list(IntPtr info_list);

Expand Down Expand Up @@ -357,7 +353,7 @@ internal static MemCpyDelegate GetMethod()
internal static extern void rs2_open(IntPtr device, IntPtr profile, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_open_multiple(IntPtr device, [In]IntPtr[] profiles, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
internal static extern void rs2_open_multiple(IntPtr device, [In] IntPtr[] profiles, int count, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_close(IntPtr sensor, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
Expand Down Expand Up @@ -475,11 +471,9 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern float rs2_get_max_usable_depth_range(IntPtr sensor, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);


#endregion
#region rs_device
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
#endregion
#region rs_device
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern int rs2_get_device_count(IntPtr info_list, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
Expand Down Expand Up @@ -520,7 +514,6 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_flash_backup(IntPtr device, rs2_update_progress_callback callback, IntPtr user_data, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_context
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
Expand Down Expand Up @@ -558,8 +551,8 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_context_add_software_device(IntPtr ctx, IntPtr device, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion
#region rs
#endregion
#region rs
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern int rs2_get_raw_data_size(IntPtr buffer, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -592,9 +585,8 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern double rs2_get_time([MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_advanced_mode
#endregion
#region rs_advanced_mode
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_toggle_advanced_mode(IntPtr dev, int enable, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -684,9 +676,28 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_serialize_json(IntPtr dev, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion
#region rs_calibrated_device
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_write_calibration(IntPtr dev, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region rs_internal
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_reset_to_factory_calibration(IntPtr dev, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion
#region rs_auto_calibrated_device
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_run_on_chip_calibration(IntPtr dev, [MarshalAs(UnmanagedType.LPStr)] string json_content, int content_size, out float health, [MarshalAs(UnmanagedType.FunctionPtr)] rs2_update_progress_callback callback, IntPtr client_data, int timeout_ms, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_run_tare_calibration(IntPtr dev, float ground_truth_mm, [MarshalAs(UnmanagedType.LPStr)] string json_content, int content_size, [MarshalAs(UnmanagedType.FunctionPtr)] rs2_update_progress_callback callback, IntPtr client_data, int timeout_ms, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_get_calibration_table(IntPtr dev, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern void rs2_set_calibration_table(IntPtr dev, IntPtr calibration, int content_size, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion
#region rs_internal
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_recording_context(int api_version, [MarshalAs(UnmanagedType.LPStr)] string filename, [MarshalAs(UnmanagedType.LPStr)] string section, RecordingMode mode, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -731,7 +742,6 @@ internal static MemCpyDelegate GetMethod()
internal static extern void rs2_software_sensor_update_read_only_option(IntPtr sensor, Option option, float val, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion
#region fw_logs

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_create_fw_log_message(IntPtr device, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

Expand Down Expand Up @@ -788,10 +798,9 @@ internal static MemCpyDelegate GetMethod()

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern uint rs2_get_fw_log_parsed_timestamp(IntPtr fw_parsed_log, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern uint rs2_get_fw_log_parsed_sequence_id(IntPtr fw_parsed_log, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#region terminal_parser
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
Expand All @@ -808,7 +817,6 @@ internal static extern IntPtr rs2_terminal_parse_command(IntPtr terminal_parser,
internal static extern IntPtr rs2_terminal_parse_response(IntPtr terminal_parser, [MarshalAs(UnmanagedType.LPStr)] string command, uint size_of_command,
IntPtr response_bytes, uint size_of_response,
[MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);

#endregion
#endregion
#region rs_pipeline
Expand Down Expand Up @@ -892,10 +900,9 @@ internal static extern IntPtr rs2_terminal_parse_response(IntPtr terminal_parser

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern int rs2_config_can_resolve(IntPtr config, IntPtr pipe, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
#endregion

#endregion

#region Error Handling
#region Error Handling
[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_get_failed_function(IntPtr error);

Expand All @@ -910,7 +917,7 @@ internal static extern IntPtr rs2_terminal_parse_response(IntPtr terminal_parser

[DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
internal static extern IntPtr rs2_free_error(IntPtr error);
#endregion
#endregion

}
}
Expand Down