+NetDevice object; +cs-tutorial-7-net-dev

wrappers/csharp/CMakeLists.txt

@@ -12,3 +12,4 @@ add_subdirectory(tutorial/software-dev)
 add_subdirectory(tutorial/pose)
 add_subdirectory(tutorial/d400-occ)
 add_subdirectory(tutorial/load-json)
+add_subdirectory(tutorial/net-dev)

wrappers/csharp/Intel.RealSense/Devices/CMakeLists.txt

@@ -13,4 +13,5 @@ target_sources(${LRS_DOTNET_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/UpdatableDevice.cs"
         "${CMAKE_CURRENT_LIST_DIR}/UpdateDevice.cs"
         "${CMAKE_CURRENT_LIST_DIR}/FirmwareLogsDevice.cs"
+        "${CMAKE_CURRENT_LIST_DIR}/NetDevice.cs"
 )

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

@@ -0,0 +1,33 @@
+// 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.Collections;
+    using System.Collections.Generic;
+    using System.Runtime.InteropServices;
+
+
+    public class NetDevice : Device
+    {
+        public NetDevice(string address) : base(init(address))
+        {
+        }
+
+        public void AddTo(Context ctx)
+        {
+            object error;
+            NativeMethods.rs2_context_add_software_device(ctx.Handle, Handle, out error);
+        }
+
+        private static IntPtr init(string address)
+        {
+            object error;
+            var ApiVersion = NativeMethods.rs2_get_api_version(out error);
+            var dev = NativeMethods.rs2_create_net_device(ApiVersion, address, out error);
+
+            return dev;
+        }
+    }
+}

wrappers/csharp/Intel.RealSense/NativeMethods.cs

@@ -19,8 +19,10 @@ internal static class NativeMethods
 
 #if DEBUG
         private const string dllName = "realsense2d";
+        private const string dllNetName = "realsense2-netd";
 #else
         private const string dllName = "realsense2";
+        private const string dllNetName = "realsense2-net";
 #endif
 
 
@@ -904,6 +906,11 @@ 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
+        #region rs_net_device
+        [DllImport(dllNetName, CallingConvention = CallingConvention.Cdecl)]
+        internal static extern IntPtr rs2_create_net_device(int api_version, string address, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(ErrorMarshaler))] out object error);
+        #endregion
+
 
         #region Error Handling
         [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]

wrappers/csharp/cs-tutorial-7-net-dev/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required( VERSION 3.8.0 )
+
+project(cs-tutorial-7-net-dev)
+
+add_executable(${PROJECT_NAME} 
+	Program.cs
+	Window.xaml
+	Window.xaml.cs
+
+	Properties/AssemblyInfo.cs
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v${DOTNET_VERSION_EXAMPLES}")
+# set_property(TARGET ${PROJECT_NAME} PROPERTY WIN32_EXECUTABLE TRUE)
+
+add_dependencies(${PROJECT_NAME} Intel.RealSense)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
+	"System"
+	"System.Xaml"
+	"PresentationCore"
+	"PresentationFramework"
+	"WindowsBase"
+)
+
+set_target_properties (${PROJECT_NAME} PROPERTIES
+	FOLDER Wrappers/csharp
+)

wrappers/csharp/cs-tutorial-7-net-dev/Program.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Linq;
+
+namespace Intel.RealSense
+{
+    class Program
+    {
+        [STAThread]
+        static void Main(string[] args)
+        {
+            if (args.Length == 0)
+            {
+                Console.WriteLine($"Please, specify network server IP address as a parameter");
+                return;
+            }
+            var w = new CaptureWindow(args[0]);
+            w.ShowDialog();
+        }
+    }
+}

wrappers/csharp/cs-tutorial-7-net-dev/Properties/AssemblyInfo.cs

@@ -0,0 +1,33 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("Intel(R) RealSense(TM) SDK C# Wrapper Tutorial-7")]
+[assembly: AssemblyDescription("Intel(R) RealSense(TM) SDK C# Wrapper Examples")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("Intel(R) Corporation")]
+[assembly: AssemblyProduct("Intel(R) RealSense(TM) SDK C# Wrapper")]
+[assembly: AssemblyCopyright("Copyright © 2021, Intel Corporation. All rights reserved")]
+[assembly: AssemblyTrademark("Intel(R) RealSense(TM)")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("71c85ee0-c7c2-4e2e-8020-6af818537a14")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

wrappers/csharp/cs-tutorial-7-net-dev/Window.xaml

@@ -0,0 +1,21 @@
+<Window x:Class="Intel.RealSense.CaptureWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:Intel.RealSense"
+        mc:Ignorable="d" WindowStartupLocation="CenterOwner"
+        Closing="control_Closing"
+        Title="Intel RealSense Capture .NET Example" Height="700" Width="1200" x:Name="control">
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition />
+            <ColumnDefinition />
+        </Grid.ColumnDefinitions>
+
+        <TextBox x:Name="txtTimeStamp" Grid.Column="0" />
+
+        <Image x:Name="imgDepth" Grid.Column="0" />
+        <Image x:Name="imgColor" Grid.Column="1" />
+    </Grid>
+</Window>

wrappers/csharp/cs-tutorial-7-net-dev/Window.xaml.cs

@@ -0,0 +1,121 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using System.Windows.Threading;
+
+namespace Intel.RealSense
+{
+    /// <summary>
+    /// Interaction logic for Window.xaml
+    /// </summary>
+    public partial class CaptureWindow : Window
+    {
+        private Pipeline  pipeline;
+        private Colorizer colorizer;
+        private CancellationTokenSource tokenSource = new CancellationTokenSource();
+
+        static Action<VideoFrame> UpdateImage(Image img)
+        {
+            var wbmp = img.Source as WriteableBitmap;
+            return new Action<VideoFrame>(frame =>
+            {
+                var rect = new Int32Rect(0, 0, frame.Width, frame.Height);
+                wbmp.WritePixels(rect, frame.Data, frame.Stride * frame.Height, frame.Stride);
+            });
+        }
+
+        public CaptureWindow(string serverIp)
+        {
+            InitializeComponent();
+
+            try
+            {
+                Action<VideoFrame> updateDepth;
+                Action<VideoFrame> updateColor;
+
+                // The colorizer processing block will be used to visualize the depth frames.
+                colorizer = new Colorizer();
+
+
+                using (var ctx = new Context())
+                {
+                    Console.WriteLine($"Connecting to server {serverIp}...");
+                    var dev = new NetDevice(serverIp);
+                    dev.AddTo(ctx);
+
+                    // Create and config the pipeline to strem color and depth frames.
+                    pipeline = new Pipeline(ctx);
+
+                    // show device 
+                    Console.WriteLine($"Using device 0, {dev.Info[CameraInfo.Name]}" +
+                                $"\tSerial number: {dev.Info[CameraInfo.SerialNumber]}");
+
+                    var pp = pipeline.Start();
+
+                    SetupWindow(pp, out updateDepth, out updateColor);
+                }
+
+                Task.Factory.StartNew(() =>
+                {
+                    while (!tokenSource.Token.IsCancellationRequested)
+                    {
+                        // We wait for the next available FrameSet and using it as a releaser object that would track
+                        // all newly allocated .NET frames, and ensure deterministic finalization
+                        // at the end of scope. 
+                        using (var frames = pipeline.WaitForFrames())
+                        {
+                            var colorFrame = frames.ColorFrame.DisposeWith(frames);
+                            var depthFrame = frames.DepthFrame.DisposeWith(frames);
+
+                            // We colorize the depth frame for visualization purposes
+                            var colorizedDepth = colorizer.Process<VideoFrame>(depthFrame).DisposeWith(frames);
+
+                            // Render the frames.
+                            Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
+                            Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
+
+                            Dispatcher.Invoke(new Action(() =>
+                            {
+                                String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
+                                txtTimeStamp.Text = depth_dev_sn + " : " + String.Format("{0,-20:0.00}", depthFrame.Timestamp) + "(" + depthFrame.TimestampDomain.ToString() + ")";
+                            }));
+                        }
+                    }
+                }, tokenSource.Token);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(ex.Message);
+                Application.Current.Shutdown();
+            }
+        }
+
+        private void control_Closing(object sender, System.ComponentModel.CancelEventArgs e)
+        {
+            tokenSource.Cancel();
+        }
+
+        private void SetupWindow(PipelineProfile pipelineProfile, out Action<VideoFrame> depth, out Action<VideoFrame> color)
+        {
+            using (var p = pipelineProfile.GetStream(Stream.Depth).As<VideoStreamProfile>())
+                imgDepth.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
+            depth = UpdateImage(imgDepth);
+
+            using (var p = pipelineProfile.GetStream(Stream.Color).As<VideoStreamProfile>())
+                imgColor.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
+            color = UpdateImage(imgColor);
+        }
+    }
+}

wrappers/csharp/cs-tutorial-7-net-dev/app.config

@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup></configuration>