Merge pull request #1307 from jangernert/net_disparity_transform

[NET wrapper] depth<->disparity transform processing block

Author: dorodnic

wrappers/csharp/Intel.RealSense/NativeMethods.cs

@@ -149,6 +149,9 @@ internal static extern int rs2_poll_for_frame(IntPtr queue,
         [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
         internal static extern IntPtr rs2_create_spatial_filter_block([MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(Helpers.ErrorMarshaler))] out object error);
 
+        [DllImport(dllName, CallingConvention = CallingConvention.Cdecl)]
+        internal static extern IntPtr rs2_create_disparity_transform_block(byte transform_to_disparity, [MarshalAs(UnmanagedType.CustomMarshaler, MarshalTypeRef = typeof(Helpers.ErrorMarshaler))] out object error);
+
 
         #endregion
         #region rs_option

wrappers/csharp/Intel.RealSense/Processing.cs

@@ -103,6 +103,28 @@ public FrameSet Process(FrameSet original)
         FrameQueue queue;
     }
 
+    public class DisparityTransform : ProcessingBlock
+    {
+        public DisparityTransform(bool transform_to_disparity = true)
+        {
+            object error;
+            byte transform_direction = transform_to_disparity ? (byte)1 : (byte)0;
+            m_instance = new HandleRef(this, NativeMethods.rs2_create_disparity_transform_block(transform_direction, out error));
+            queue = new FrameQueue();
+            NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
+        }
+
+        public VideoFrame ApplyFilter(VideoFrame original)
+        {
+            object error;
+            NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
+            NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
+            return queue.WaitForFrame() as VideoFrame;
+        }
+
+        FrameQueue queue;
+    }
+
     public class DecimationFilter : ProcessingBlock
     {
         public DecimationFilter()