D400 Calibration extensions in C#

wrappers/csharp/CMakeLists.txt

@@ -9,4 +9,5 @@ add_subdirectory(cs-tutorial-1-depth)
 add_subdirectory(cs-tutorial-2-capture)
 add_subdirectory(cs-tutorial-3-processing)
 add_subdirectory(cs-tutorial-4-software-dev)
-add_subdirectory(cs-tutorial-5-pose)
+add_subdirectory(cs-tutorial-5-pose)
+add_subdirectory(cs-tutorial-8-D400-on-chip-calibration)

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

@@ -29,13 +29,35 @@ public byte[] RunOnChipCalibration(string json, out float health, int timeout_ms
             return GetByteArrayFromRawDataObject(rawDataBuffer);
         }
 
+        public byte[] RunOnChipCalibration(string json, out float health, ProgressCallback cb, int timeout_ms)
+        {
+            object error;
+            rs2_update_progress_callback cb2 = (float progress, IntPtr u) =>
+            {
+                cb((IntPtr)progress);
+            };
+            IntPtr rawDataBuffer = NativeMethods.rs2_run_on_chip_calibration(Handle, json, json.Length, out health, cb2, IntPtr.Zero, timeout_ms, out error);
+            return GetByteArrayFromRawDataObject(rawDataBuffer);
+        }
+
         public byte[] RunTareCalibration(float ground_truth_mm, string json, int timeout_ms)
         {
             object error;
             IntPtr rawDataBuffer = NativeMethods.rs2_run_tare_calibration(Handle, ground_truth_mm, json, json.Length, null, IntPtr.Zero, timeout_ms, out error);
             return GetByteArrayFromRawDataObject(rawDataBuffer);
         }
 
+        public byte[] RunTareCalibration(float ground_truth_mm, string json, ProgressCallback cb, int timeout_ms)
+        {
+            object error;
+            rs2_update_progress_callback cb2 = (float progress, IntPtr u) =>
+            {
+                cb((IntPtr)progress);
+            };
+            IntPtr rawDataBuffer = NativeMethods.rs2_run_tare_calibration(Handle, ground_truth_mm, json, json.Length, cb2, IntPtr.Zero, timeout_ms, out error);
+            return GetByteArrayFromRawDataObject(rawDataBuffer);
+        }
+
         public byte[] CalibrationTable
         {
             get

wrappers/csharp/Intel.RealSense/Sensors/Sensor.cs

@@ -19,16 +19,16 @@ public class Sensor : Base.RefCountedPooledObject, IOptions
 
         internal override void Initialize()
         {
-            lock (tableLock)
-            {
-                if (refCountTable.Contains(Handle))
-                    refCount = refCountTable[Handle] as Base.RefCount;
-                else
-                {
-                    refCount = new Base.RefCount();
-                    refCountTable[Handle] = refCount;
-                }
-                Retain();
+            lock (tableLock)
+            {
+                if (refCountTable.Contains(Handle))
+                    refCount = refCountTable[Handle] as Base.RefCount;
+                else
+                {
+                    refCount = new Base.RefCount();
+                    refCountTable[Handle] = refCount;
+                }
+                Retain();
             }
             Info = new InfoCollection(NativeMethods.rs2_supports_sensor_info, NativeMethods.rs2_get_sensor_info, Handle);
             Options = new OptionsList(Handle);
@@ -53,7 +53,6 @@ internal static T Create<T>(IntPtr ptr)
         public static T Create<T>(Sensor other)
             where T : Sensor
         {
-            object error;
             return ObjectPool.Get<T>(other.Handle);
         }
 
@@ -65,24 +64,24 @@ internal Sensor(IntPtr sensor)
 
         protected override void Dispose(bool disposing)
         {
-            if (m_instance.IsInvalid)
-            {
-                return;
+            if (m_instance.IsInvalid)
+            {
+                return;
             }
 
             //m_queue.Dispose();
             (Options as OptionsList).Dispose();
 
-            lock (tableLock)
-            {
-                IntPtr localHandle = Handle;
-                System.Diagnostics.Debug.Assert(refCountTable.Contains(localHandle));
-
-                base.Dispose(disposing);
-
-                if (refCount.count == 0)
-                {
-                    refCountTable.Remove(localHandle);
+            lock (tableLock)
+            {
+                IntPtr localHandle = Handle;
+                System.Diagnostics.Debug.Assert(refCountTable.Contains(localHandle));
+
+                base.Dispose(disposing);
+
+                if (refCount.count == 0)
+                {
+                    refCountTable.Remove(localHandle);
                 }
             }
         }

wrappers/csharp/Intel.RealSense/Types/Delegates.cs

@@ -21,6 +21,8 @@ namespace Intel.RealSense
     [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
     public delegate void rs2_devices_changed_callback(IntPtr removed, IntPtr added, IntPtr user_data);
 
+    public delegate void ProgressCallback(IntPtr progress);
+
     [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
     public delegate void rs2_update_progress_callback(float progress, IntPtr user_data);
 }

wrappers/csharp/cs-tutorial-8-D400-on-chip-calibration/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required( VERSION 3.8.0 )
+
+project(cs-tutorial-8-D400-on-chip-calibration)
+
+add_executable(${PROJECT_NAME} 
+	Program.cs
+	Window.xaml
+	Window.xaml.cs
+	ExampleAutocalibrateDevice.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
+)