updated c# wrapper, samples and unity

wrappers/csharp/Documentation/cookbook.md

@@ -182,12 +182,12 @@ PipelineProfile selection = pipe.Start();
 var selected_device = selection.Device;
 var depth_sensor = selected_device.Sensors[0];
 
-if (depth_sensor.Options[Option.EmitterEnabled].Supported)
+if (depth_sensor.Options.Supports(Option.EmitterEnabled))
 {
     depth_sensor.Options[Option.EmitterEnabled].Value = 1f; // Enable emitter
     depth_sensor.Options[Option.EmitterEnabled].Value = 0f; // Disable emitter
 }
-if (depth_sensor.Options[Option.LaserPower].Supported)
+if (depth_sensor.Options.Supports(Option.LaserPower))
 {
     var laserPower = depth_sensor.Options[Option.LaserPower];
     laserPower.Value = laserPower.Max; // Set max power

wrappers/csharp/Intel.RealSense/Base/DeleterHandle.cs

@@ -4,6 +4,7 @@
 namespace Intel.RealSense.Base
 {
     using System;
+    using System.Diagnostics;
     using System.Runtime.InteropServices;
     using System.Security;
 
@@ -15,6 +16,7 @@ namespace Intel.RealSense.Base
     /// Native handle with deleter delegate to release unmanaged resources
     /// </summary>
     // TODO: CriticalFinalizerObject & CER
+    //[DebuggerDisplay("{deleter?.Method.Name,nq}", Name = nameof(Deleter))]
     internal sealed class DeleterHandle : IDisposable
     {
         private IntPtr handle;
@@ -64,8 +66,9 @@ internal void Reset(IntPtr ptr)
 
         internal void Reset(IntPtr ptr, Deleter deleter)
         {
+            this.handle = ptr;
             this.deleter = deleter;
-            Reset(ptr);
+            //GC.ReRegisterForFinalize(this);
         }
 
         ~DeleterHandle()

wrappers/csharp/Intel.RealSense/Base/Object.cs

@@ -4,13 +4,15 @@
 namespace Intel.RealSense.Base
 {
     using System;
+    using System.Diagnostics;
 
     /// <summary>
     /// Base class for disposable objects with native resources
     /// </summary>
     public abstract class Object : IDisposable
     {
         // TODO: rename, kept for backwards compatiblity
+        [DebuggerBrowsable(DebuggerBrowsableState.Never)]
         internal readonly DeleterHandle m_instance;
 
         /// <summary>

wrappers/csharp/Intel.RealSense/CMakeLists.txt

@@ -23,6 +23,7 @@ include(StreamProfiles/CMakeLists.txt)
 include(Sensors/CMakeLists.txt)
 include(Types/CMakeLists.txt)
 include(Helpers/CMakeLists.txt)
+include(Options/CMakeLists.txt)
 
 csharp_set_designer_cs_properties(
     .nuget/Intel.RealSense.targets

wrappers/csharp/Intel.RealSense/Devices/AdvancedDevice.cs

@@ -35,7 +35,7 @@ public static AdvancedDevice FromDevice(Device dev)
         /// <summary>
         /// Gets or sets a value indicating whether Advanced-Mode is enabled
         /// </summary>
-        /// <value>true when Advanced-Mode is enabled</value>
+        /// <value><see langword="true"/> when Advanced-Mode is enabled</value>
         public bool AdvancedModeEnabled
         {
             get

wrappers/csharp/Intel.RealSense/Devices/Device.cs

@@ -6,6 +6,7 @@ namespace Intel.RealSense
     using System;
     using System.Collections;
     using System.Collections.Generic;
+    using System.Collections.ObjectModel;
     using System.Runtime.InteropServices;
 
     /// <summary>
@@ -15,7 +16,7 @@ public class Device : Base.PooledObject
     {
         internal override void Initialize()
         {
-            Info = new CameraInfos(this);
+            Info = new InfoCollection(NativeMethods.rs2_supports_device_info, NativeMethods.rs2_get_device_info, Handle);
         }
 
         internal Device(IntPtr ptr)
@@ -40,87 +41,36 @@ internal static T Create<T>(IntPtr ptr, Base.Deleter deleter)
             where T : Device
         {
             var dev = ObjectPool.Get<T>(ptr);
-            dev.m_instance.Reset(ptr, deleter);
+            dev.Reset(ptr, deleter);
             return dev;
         }
 
-        public class CameraInfos : IEnumerable<KeyValuePair<CameraInfo, string>>
-        {
-            private readonly Device device;
-
-            internal CameraInfos(Device device)
-            {
-                this.device = device;
-            }
-
-            /// <summary>
-            /// Retrieve camera specific information, like versions of various internal components.
-            /// </summary>
-            /// <param name="info">Camera info type to retrieve</param>
-            /// <returns>The requested camera info string, in a format specific to the device model</returns>
-            public string this[CameraInfo info]
-            {
-                get
-                {
-                    object err;
-                    if (NativeMethods.rs2_supports_device_info(device.Handle, info, out err) > 0)
-                    {
-                        return Marshal.PtrToStringAnsi(NativeMethods.rs2_get_device_info(device.Handle, info, out err));
-                    }
-
-                    return null;
-                }
-            }
-
-            private static readonly CameraInfo[] CameraInfoValues = Enum.GetValues(typeof(CameraInfo)) as CameraInfo[];
-
-            /// <inheritdoc/>
-            public IEnumerator<KeyValuePair<CameraInfo, string>> GetEnumerator()
-            {
-                object error;
-                foreach (var key in CameraInfoValues) {
-                    if (NativeMethods.rs2_supports_device_info(device.Handle, key, out error) > 0)
-                    {
-                        var value = Marshal.PtrToStringAnsi(NativeMethods.rs2_get_device_info(device.Handle, key, out error));
-                        yield return new KeyValuePair<CameraInfo, string>(key, value);
-                    }
-                }
-            }
-
-            /// <inheritdoc/>
-            IEnumerator IEnumerable.GetEnumerator()
-            {
-                return GetEnumerator();
-            }
-        }
-
         /// <summary>
         /// Gets camera specific information, like versions of various internal components
         /// </summary>
-        public CameraInfos Info { get; private set; }
+        public InfoCollection Info { get; private set; }
 
         /// <summary>
         /// create a static snapshot of all connected devices at the time of the call
         /// </summary>
         /// <returns>The list of sensors</returns>
-        public SensorList QuerySensors()
+        public ReadOnlyCollection<Sensor> QuerySensors()
         {
             object error;
             var ptr = NativeMethods.rs2_query_sensors(Handle, out error);
-            return new SensorList(ptr);
+            using (var sl = new SensorList(ptr))
+            {
+                var a = new Sensor[sl.Count];
+                sl.CopyTo(a, 0);
+                return Array.AsReadOnly(a);
+            }
         }
 
         /// <summary>
         /// Gets a static snapshot of all connected devices at the time of the call
         /// </summary>
         /// <value>The list of sensors</value>
-        public SensorList Sensors
-        {
-            get
-            {
-                return QuerySensors();
-            }
-        }
+        public ReadOnlyCollection<Sensor> Sensors => QuerySensors();
 
         /// <summary>
         /// Send hardware reset request to the device. The actual reset is asynchronous.

wrappers/csharp/Intel.RealSense/Devices/DeviceList.cs

@@ -6,12 +6,45 @@ namespace Intel.RealSense
     using System;
     using System.Collections;
     using System.Collections.Generic;
+    using System.Diagnostics;
     using System.Runtime.InteropServices;
 
+    [DebuggerTypeProxy(typeof(DeviceListDebugView))]
+    [DebuggerDisplay("Count = {Count}")]
     public class DeviceList : Base.Object, IEnumerable<Device>
     {
         internal static readonly Base.Deleter DeviceDeleter = NativeMethods.rs2_delete_device;
 
+        internal sealed class DeviceListDebugView
+        {
+            private readonly DeviceList dl;
+
+            [DebuggerBrowsable(DebuggerBrowsableState.RootHidden)]
+            public Device[] Items
+            {
+                get
+                {
+                    Device[] array = new Device[dl.Count];
+                    for (int i = 0; i < dl.Count; i++)
+                    {
+                        array.SetValue(dl[i], i);
+                    }
+
+                    return array;
+                }
+            }
+
+            public DeviceListDebugView(DeviceList optionList)
+            {
+                if (optionList == null)
+                {
+                    throw new ArgumentNullException(nameof(optionList));
+                }
+
+                dl = optionList;
+            }
+        }
+
         /// <summary>
         /// Initializes a new instance of the <see cref="DeviceList"/> class.
         /// </summary>
@@ -33,7 +66,7 @@ public IEnumerator<Device> GetEnumerator()
             for (int i = 0; i < deviceCount; i++)
             {
                 var ptr = NativeMethods.rs2_create_device(Handle, i, out error);
-                yield return Device.Create<Device>(ptr, DeviceDeleter);
+                yield return Device.Create<Device>(ptr, NativeMethods.rs2_delete_device);
             }
         }
 
@@ -64,7 +97,7 @@ public Device this[int index]
             {
                 object error;
                 var ptr = NativeMethods.rs2_create_device(Handle, index, out error);
-                return Device.Create<Device>(ptr, DeviceDeleter);
+                return Device.Create<Device>(ptr, NativeMethods.rs2_delete_device);
             }
         }
 

wrappers/csharp/Intel.RealSense/Frames/Frame.cs

@@ -5,19 +5,24 @@ namespace Intel.RealSense
 {
     using System;
     using System.Collections.Generic;
+    using System.Diagnostics;
+    using System.Linq;
     using System.Runtime.InteropServices;
 
     /// <summary>
     /// Base class for multiple frame extensions
     /// </summary>
     public class Frame : Base.PooledObject
     {
+        [DebuggerBrowsable(DebuggerBrowsableState.Never)]
+        private static readonly Base.Deleter FrameReleaser = NativeMethods.rs2_release_frame;
+
         internal override void Initialize()
         {
         }
 
         internal Frame(IntPtr ptr)
-            : base(ptr, NativeMethods.rs2_release_frame)
+            : base(ptr, FrameReleaser)
         {
         }
 
@@ -57,7 +62,7 @@ public static T Create<T>(Frame other)
 
         /// <summary>Test if the given frame can be extended to the requested extension</summary>
         /// <param name="extension">The extension to which the frame should be tested if it is extendable</param>
-        /// <returns>true iff the frame can be extended to the given extension</returns>
+        /// <returns><see langword="true"/> iff the frame can be extended to the given extension</returns>
         public bool Is(Extension extension)
         {
             object error;
@@ -73,7 +78,7 @@ public T As<T>()
             return Create<T>(this);
         }
 
-        /// <summary>Returns a strongly-typed clone, <c>this</c> is disposed</summary>
+        /// <summary>Returns a strongly-typed clone, <see langword="this"/> is disposed</summary>
         /// <typeparam name="T"><see cref="Frame"/> type or subclass</typeparam>
         /// <returns>an instance of <typeparamref name="T"/></returns>
         public T Cast<T>()
@@ -111,9 +116,11 @@ public void Keep()
 
         /// <summary>
         /// Gets a value indicating whether frame is a composite frame
-        /// <para>Shorthand for <c>Is(Extension.CompositeFrame)</c></para>
+        /// <para>Shorthand for <c>Is(<see cref="Extension.CompositeFrame"/>)</c></para>
         /// </summary>
-        /// <value>true if frame is a composite frame and false otherwise</value>
+        /// <seealso cref="Is(Extension)"/>
+        /// <value><see langword="true"/> if frame is a composite frame and false otherwise</value>
+        [DebuggerBrowsable(DebuggerBrowsableState.Never)]
         public bool IsComposite
         {
             get
@@ -149,6 +156,7 @@ public T GetProfile<T>()
         /// <summary>
         /// Gets the stream profile that was used to start the stream of this frame
         /// </summary>
+        /// <see cref="GetProfile{T}"/>
         public StreamProfile Profile => GetProfile<StreamProfile>();
 
         /// <summary>Gets the frame number of the frame</summary>
@@ -213,5 +221,19 @@ public bool SupportsFrameMetaData(FrameMetadataValue frame_metadata)
             object error;
             return NativeMethods.rs2_supports_frame_metadata(Handle, frame_metadata, out error) != 0;
         }
+
+#if DEBUGGER_METADATA
+        private static readonly FrameMetadataValue[] MetadataValues = Enum.GetValues(typeof(FrameMetadataValue)) as FrameMetadataValue[];
+        public ICollection<KeyValuePair<FrameMetadataValue, long>> MetaData
+        {
+            get
+            {
+                return MetadataValues
+                    .Where(m => SupportsFrameMetaData(m))
+                    .Select(m => new KeyValuePair<FrameMetadataValue, long>(m, GetFrameMetadata(m)))
+                    .ToArray();
+            }
+        }
+#endif
     }
 }