An easy-to-use C# wrapper for the Intel RealSense D415/435 SDK. Supports .NET 3.5+ and Unity3D for Windows.
The latest binaries are available in the project releases.
private RealSenseDevice device;
private void Start()
{
device = new RealSenseDevice();
device.OnColorFrameArrived += Device_OnColorFrameArrived;
device.OnDepthFrameArrived += Device_OnDepthFrameArrived;
device.OnInfraredFrameArrived += Device_OnInfraredFrameArrived;
device.Open();
}
private void OnDestroy()
{
device.OnColorFrameArrived -= Device_OnColorFrameArrived;
device.OnDepthFrameArrived -= Device_OnDepthFrameArrived;
device.OnInfraredFrameArrived -= Device_OnInfraredFrameArrived;
device.Close();
}
private void Device_OnColorFrameArrived(VideoFrame frame)
{
// Do something with the frame...
}
private void Device_OnDepthFrameArrived(DepthFrame frame)
{
// Do something with the frame...
}
private void Device_OnInfraredFrameArrived(VideoFrame frame)
{
// Do something with the frame...
}
CoordinateMapper mapper = mapper = device.ActiveProfile.GetCoordinateMapper();
mapper.MapDepthToWorld(point, depth);
mapper.MapWorldToColor(point);
mapper.MapWorldToDepth(point);
The project is developed and maintained by LightBuzz Inc.