Merge pull request #13 from keijiro/rssdk-2.20

Rssdk 2.20

Assets/RealSenseSDK2.0/Editor/RsDeviceInspectorEditor.cs

@@ -5,7 +5,7 @@
 using Intel.RealSense;
 using System;
 using System.Linq;
-
+using System.IO;
 
 public static class CameraOptionExtensions
 {
@@ -66,13 +66,44 @@ public override void OnInspectorGUI()
             return;
         }
 
+        var dev = deviceInspector.device;
+
         EditorGUILayout.Space();
-        var devName = deviceInspector.device.Info[CameraInfo.Name];
-        var devSerial = deviceInspector.device.Info[CameraInfo.SerialNumber];
+        var devName = dev.Info[CameraInfo.Name];
+        var devSerial = dev.Info[CameraInfo.SerialNumber];
         DrawHorizontal("Device", devName);
         DrawHorizontal("Device S/N", devSerial);
         EditorGUILayout.Space();
 
+        if (dev.Info.Supports(CameraInfo.AdvancedMode))
+        {
+            var adv = dev.As<AdvancedDevice>();
+            if (adv.AdvancedModeEnabled)
+            {
+                EditorGUILayout.BeginHorizontal();
+                EditorGUILayout.LabelField("Preset", GUILayout.Width(EditorGUIUtility.labelWidth - 4));
+                if (GUILayout.Button("Load", GUILayout.ExpandWidth(true)))
+                {
+                    var path = EditorUtility.OpenFilePanel("Load Preset", "", "JSON");
+                    if (path.Length != 0)
+                    {
+                        adv.JsonConfiguration = File.ReadAllText(path);
+                        cachedValue.Clear();
+                        EditorUtility.SetDirty(target);
+                    }
+                }
+                if (GUILayout.Button("Save", GUILayout.ExpandWidth(true)))
+                {
+                    var path = EditorUtility.SaveFilePanel("Save Preset", "", "preset", "JSON");
+                    if (path.Length != 0)
+                    {
+                        File.WriteAllText(path, adv.JsonConfiguration);
+                    }
+                }
+                EditorGUILayout.EndHorizontal();
+            }
+        }
+
         foreach (var kvp in deviceInspector.sensors)
         {
             string sensorName = kvp.Key;
@@ -100,7 +131,9 @@ void DrawOption(Sensor sensor, IOption opt)
         if (opt.ReadOnly)
         {
             EditorGUILayout.BeginHorizontal();
+            GUI.enabled = false;
             EditorGUILayout.LabelField(k, GUILayout.Width(EditorGUIUtility.labelWidth - 4));
+            GUI.enabled = true;
             EditorGUILayout.SelectableLabel(v.ToString(), EditorStyles.textField, GUILayout.Height(EditorGUIUtility.singleLineHeight));
             EditorGUILayout.EndHorizontal();
         }

Assets/RealSenseSDK2.0/Scripts/ProcessingBlocks/RsThresholdFilter.cs

@@ -0,0 +1,62 @@
+using Intel.RealSense;
+using UnityEngine;
+
+[ProcessingBlockDataAttribute(typeof(ThresholdFilter))]
+[HelpURL("https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md#hole-filling-filter")]
+public class RsThresholdFilter : RsProcessingBlock
+{
+    /// <summary>
+    /// Min range in meters
+    /// </summary>
+    [Range(0f, 16f)]
+    public float MinDistance = 0.1f;
+
+    /// <summary>
+    /// Max range in meters
+    /// </summary>
+    [Range(0f, 16f)]
+    public float MaxDistance = 4f;
+
+    private ThresholdFilter _pb;
+
+    private IOption minOption;
+    private IOption maxOption;
+
+    public void Init()
+    {
+        _pb = new ThresholdFilter();
+        minOption = _pb.Options[Option.MinDistance];
+        maxOption = _pb.Options[Option.MaxDistance];
+    }
+
+    void OnDisable()
+    {
+        if (_pb != null)
+            _pb.Dispose();
+    }
+
+    public override Frame Process(Frame frame, FrameSource frameSource)
+    {
+        if (_pb == null)
+        {
+            Init();
+        }
+
+        UpdateOptions();
+
+        return _pb.Process(frame);
+    }
+
+    public void SetMinDistance(float v) {
+        MinDistance = v;
+    }
+    public void SetMaxDistance(float v) {
+        MaxDistance = v;
+    }
+
+    private void UpdateOptions()
+    {
+        minOption.Value = MinDistance;
+        maxOption.Value = MaxDistance;
+    }
+}

Assets/RealSenseSDK2.0/Scripts/RsDevice.cs

@@ -1,7 +1,4 @@
 using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Runtime.InteropServices;
 using System.Threading;
 using UnityEngine;
 using Intel.RealSense;
@@ -73,8 +70,7 @@ void OnEnable()
         using (var cfg = DeviceConfiguration.ToPipelineConfig())
             ActiveProfile = m_pipeline.Start(cfg);
 
-        using (var activeStreams = ActiveProfile.Streams)
-            DeviceConfiguration.Profiles = activeStreams.Select(RsVideoStreamRequest.FromProfile).ToArray();
+        DeviceConfiguration.Profiles = ActiveProfile.Streams.Select(RsVideoStreamRequest.FromProfile).ToArray();
 
         if (processMode == ProcessMode.Multithread)
         {
@@ -109,33 +105,39 @@ void OnDisable()
         if (Streaming && OnStop != null)
             OnStop();
 
+        if (ActiveProfile != null)
+        {
+            ActiveProfile.Dispose();
+            ActiveProfile = null;
+        }
+
         if (m_pipeline != null)
         {
             // if (Streaming)
-                // m_pipeline.Stop();
+            // m_pipeline.Stop();
             m_pipeline.Dispose();
             m_pipeline = null;
         }
 
         Streaming = false;
-
-        if (ActiveProfile != null)
-        {
-            ActiveProfile.Dispose();
-            ActiveProfile = null;
-        }
     }
 
     void OnDestroy()
     {
         // OnStart = null;
         OnStop = null;
 
+        if (ActiveProfile != null)
+        {
+            ActiveProfile.Dispose();
+            ActiveProfile = null;
+        }
+
         if (m_pipeline != null)
+        {
             m_pipeline.Dispose();
-        m_pipeline = null;
-
-        // Instance = null;
+            m_pipeline = null;
+        }
     }
 
     private void RaiseSampleEvent(Frame frame)
@@ -155,8 +157,7 @@ private void WaitForFrames()
         while (!stopEvent.WaitOne(0))
         {
             using (var frames = m_pipeline.WaitForFrames())
-            using (var frame = frames.AsFrame())
-                RaiseSampleEvent(frame);
+                RaiseSampleEvent(frames);
         }
     }
 
@@ -172,10 +173,7 @@ void Update()
         if (m_pipeline.PollForFrames(out frames))
         {
             using (frames)
-            using (var frame = frames.AsFrame())
-            {
-                RaiseSampleEvent(frame);
-            }
+                RaiseSampleEvent(frames);
         }
     }