csharp

.NET Wrapper for Intel RealSense SDK

This folder offers P/Invoke based bindings for most SDK APIs, together with a couple of examples.

Getting Started

To work with Intel RealSense from .NET you will need two libraries next to your application - realsense2.dll and Intel.RealSense.dll.

In order to get realsense2.dll you can either build the SDK from source using CMake or install the latest release.

Next, download the following prerequisites :

• Visual Studio 2015/2017
• .NET framework >= 3.5 (.NET 3.5 is required for Unity the unity wrapper)

After installing all prerequisites, generate 'realsense2.sln' with 'BUILD_CSHARP_BINDINGS' and 'BUILD_SHARED_LIBS' flags using cmake.

• Generate the VS solution using cmake (run from librealsense root dir):
  • mkdir build
  • cd build
  • cmake .. -DBUILD_CSHARP_BINDINGS=ON -DBUILD_SHARED_LIBS=ON

The file 'realsense2.sln' should be created in 'build' folder, open the file with Visual Studio, C# examples and library will be available in the solution under 'Wrappers/csharp'.

Both the native library and the .NET wrapper are built by default as part of the examples dependencies.

Hello World

Here is a minimal depth application written in C#:

var pipe = new Pipeline();
pipe.Start();

while (true)
{
    using (var frames = pipe.WaitForFrames())
    using (var depth = frames.First(x => x.Profile.Stream == Stream.Depth) as DepthFrame)
    {
        Console.WriteLine("The camera is pointing at an object " +
            depth.GetDistance(depth.Width / 2, depth.Height / 2) + " meters away\t");

        Console.SetCursorPosition(0, 0);
    }
}

Note: Since the SDK is holding-on to native hardware resources, it is critical to make sure you deterministically call Release on objects, especially those derived from Frame. Without releasing resources explicitly the Garbage Collector will not keep-up with new frames being allocated. Take advantage of using whenever you work with frames.

Linux and Mono

TBD

Unity Integration

TBD