dmcam C# extension overview

The C# extension provided by dmcam makes it easy for developers based on .net C# to perform rapid secondary development based on SmartToF cameras. This document mainly describes the installation of C# extensions and the associations and differences between C# API and C API.

C# extension installation

• Window

  • Supported systems：

    • Windows 7/8/10 32bit/64bit

    • .Net framework >= 3.5

  • C# extended dynamic library includes：

    • dmcam_csharp.dll: C# extended dynamic library for importing C# projects

    • dmcam_csharp_adapter.dll:C# dmcam extended suitable library configuration

    • libdmcam.dll: dmcam core lib

  • Installation method

    • Add the above dll to the PATH or copy it to the executable file directory.

    • C# project references dmcam_csharp.dll

• Linux

  • Supported systems：

    • Linux 64bit (Ubuntu 14.04/16.04 tested)

    • Mono

  • C# extended dynamic library includes

    • dmcam_csharp.dll: C# extended dynamic library for importing C# projects.

    • dmcam_csharp_adapter.so: C# dmcam extended suitable library configuration

    • libdmcam.so: dmcam core lib

  • Installation method

    • Setting LD_LIBRAYR_PATH contains the above so/dll folder, or put the dynamic library in the system library directory, such as： /usr/local/lib/

C# API description

The module API in C# corresponds to the API defined in ** dmcam.h ** in the C library.

• The default namespace for C# extensions is: com.smarttof . Can be imported via using:

  using com.smarttof;
  namespace sampleBasic {
  public class sampleBasic{
      public static void Main(string[] argv) {
          dmcam.init(null);
          /* ... */
          dmcam.uninit();
  }
  

• API name mapping(C->C#)： dmcam_xxxxx(…) -> dmcam.xxxxx(…) .For example dmcam_dev_open is mapped to`dmcam.dev_open`

• Structure mapping(C->C#): dmcam_xxxxx -> xxxx() . Structure is mapped to a class in C#, For example, create a dmcam_frame_info_t structure as follows:

  finfo = new frame_info_t()
  

• NULL is mapped to null, For example:

  dmcam.init(null) // dmcam_init(NULL)
  

• There are differences between the following C# interfaces and C APIs, you need to pay attention:

  dmcam.dev_list()

  In C#, the device list is obtained as follows. The return value is the number of ready devices. Use example like below:

  dmcamDevArray devs = new dmcamDevArray(16);
  int cnt = dmcam.dev_list(devs.cast(), 16);
  
  Console.Write("found {0} device\n", cnt);
  

  dmcam.param_batch_set()

  Setting parameters in C# is a bit more complicated than C, and you need to construct a param_item_t instance. The specific usage example is as follows:

  param_item_t p_fps = new param_item_t();
  p_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
  p_fps.param_val.frame_rate.fps = 15;
  
  param_item_t p_intg = new param_item_t();
  p_intg.param_id = dev_param_e.PARAM_INTG_TIME;
  p_intg.param_val.intg.intg_us = 1000;
  
  dmcamParamArray wparams = new dmcamParamArray(2);
  wparams.setitem(0, p_fps);
  wparams.setitem(1, p_intg);
  
  if (!dmcam.param_batch_set(dev, wparams.cast(), 2)) {
      Console.WriteLine(" set param failed\n");
  }
  

  dmcam.param_batch_get(dev, list)

  Setting parameters in C# is a bit more complicated than C, and you need to construct a param_item_t instance. The specific usage example is as follows.

  param_item_t r_fps = new param_item_t();
  r_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
  param_item_t r_intg = new param_item_t();
  r_intg.param_id = dev_param_e.PARAM_INTG_TIME;
  
  dmcamParamArray rparams = new dmcamParamArray(2);
  rparams.setitem(0, r_fps);
  rparams.setitem(1, r_intg);
  
  if (!dmcam.param_batch_get(dev, rparams.cast(), 2)) {
      Console.WriteLine(" get param failed\n");
  } else {
      Console.WriteLine("fps = {0}, intg = {1}",
              (int)rparams.getitem(0).param_val.frame_rate.fps,
              (int)rparams.getitem(1).param_val.intg.intg_us);
  }
  

  dmcam.set_callback_on_frame_ready and dmcam.set_callback_on_error

  C# extensions do not support callback functions. When capturing, you can refer to the following settings:

  cap_cfg_t cfg = new cap_cfg_t();
  cfg.cache_frames_cnt = 10;
  cfg.on_error= null;
  cfg.on_frame_ready= null;
  cfg.en_save_replay= 0;
  cfg.en_save_dist_u16= 0;
  cfg.en_save_gray_u16= 0;
  cfg.fname_replay= null;
  
  dmcam.cap_config_set(dev, cfg);