C# & Unity Development

[ogoshen]

Changes

• Major (Breaking) Change ⚠️

  Added Is(Extension) and As<T> for casting

  This means that the following are no longer supported and evaluate to true:

  GetStream(Stream.Color) as VideoStreamProfile == null;
  FirstOrDefault(Stream.Depth) as DepthFrame == null;
  WaitForFrame() as VideoFrame == null;

  You should either explicitly cast the results:

  GetStream(Stream.Color).As<VideoStreamProfile>();
  FirstOrDefault(Stream.Depth).As<DepthFrame>();
  WaitForFrame().As<VideoFrame>();

  Or better yet, look for a generic version, these are usually more optimized:

  GetStream<VideoStreamProfile>(Stream.Color);
  FirstOrDefault<DepthFrame>(Stream.Depth);
  WaitForFrame<VideoFrame>();

  ❗ These changes won't be caught at compile-time and failing to update your code will result in runtime exceptions

  There are several reasons for doing this:

  • Explicit is better than implicit
  • No more branching guess-work to figure out the proper type
  • Similarity to C++ API

• Added motion and pose support (D435i, T265 & software device)

• Added frame metadata support

• Took pools out of individual types and added ObjectPool

• Added math types to Intel.RealSense.Math

• Points.CopyTo(Vertex[] array) changed to Points.CopyVertices<T>(T[] vertices) for better support of external types like UnityEngine.Vector3, System.Numerics.Vector3 (SIMD) or plain old float[]. Same for texture coordinates.

• Removed IEnumerable<Frame> from Pipeline and FrameQueue

  Implementation was wrong and it didn't make much sense anyway...
  What we really want is probably IAsyncEnumerable \ AsyncEnumerator \ System.Reactive extensions.

• Runtime platform detection for memcpy on Linux \ Android (MacOS untesed)

• Continued refactoring classes and folders

[ogoshen]

Should solve advanced mode & json loading issues in #2854, #3250, #3275

[dorodnic]

Tested with Visual Studio 2015
LGTM