PR #8860 from SergeySPF: C# example for pose stream (for T265 device)

wrappers/csharp/CMakeLists.txt

@@ -8,4 +8,5 @@ add_subdirectory(Intel.RealSense)
 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-4-software-dev)
+add_subdirectory(cs-tutorial-5-pose)

wrappers/csharp/cs-tutorial-5-pose/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required( VERSION 3.8.0 )
+
+project(cs-tutorial-5-pose)
+
+add_executable(${PROJECT_NAME} 
+	Program.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 ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
+	"System"
+)
+
+set_target_properties (${PROJECT_NAME} PROPERTIES
+	FOLDER Wrappers/csharp
+)

wrappers/csharp/cs-tutorial-5-pose/Program.cs

@@ -0,0 +1,55 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading;
+
+namespace Intel.RealSense
+{
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            using (var ctx = new Context())
+            {
+                DeviceList devices = ctx.QueryDevices();
+                if (devices.Count == 0)
+                {
+                    Console.WriteLine("RealSense devices are not connected.");
+                    return;
+                }
+
+                using (var pipeline = new Pipeline(ctx))
+                using (var config = new Config())
+                {
+                    // Add pose stream
+                    config.EnableStream(Stream.Pose, Format.SixDOF);
+                    // Start pipeline with chosen configuration
+                    using(var profile = pipeline.Start(config))
+                    using (var streamprofile = profile.GetStream(Stream.Pose).As<PoseStreamProfile>())
+                    {
+                        Console.WriteLine($"\nDevice : {profile.Device.Info[CameraInfo.Name]}");
+                        Console.WriteLine($"    Serial number: {profile.Device.Info[CameraInfo.SerialNumber]}");
+                        Console.WriteLine($"    Firmware version: {profile.Device.Info[CameraInfo.FirmwareVersion]}");
+                        Console.WriteLine($"    Pose stream framerate: {streamprofile.Framerate}\n");
+                    }
+
+                    while (true)
+                    {
+                        // Wait for the next set of frames from the camera
+                        using (FrameSet frameset = pipeline.WaitForFrames())
+                        // Get a frame from the pose stream
+                        using (PoseFrame frame = frameset.PoseFrame)
+                        {
+                            // Get pose frame data
+                            Pose data = frame.PoseData;
+
+                            // Print the x, y, z values of the translation, relative to initial position
+                            Console.Write("\r" + new String(' ', 80));
+                            Console.Write("\rDevice Position: {0} {1} {2} (meters)", data.translation.x.ToString("N3"), data.translation.y.ToString("N3"), data.translation.z.ToString("N3"));
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

wrappers/csharp/cs-tutorial-5-pose/Properties/AssemblyInfo.cs

@@ -0,0 +1,33 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("Intel(R) RealSense(TM) SDK C# Wrapper Tutorial-5")]
+[assembly: AssemblyDescription("Intel(R) RealSense(TM) SDK C# Wrapper Examples")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("Intel(R) Corporation")]
+[assembly: AssemblyProduct("Intel(R) RealSense(TM) SDK C# Wrapper")]
+[assembly: AssemblyCopyright("Copyright © 2021, Intel Corporation. All rights reserved")]
+[assembly: AssemblyTrademark("Intel(R) RealSense(TM)")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("71c85ee0-c7c2-4e2e-8020-6af818537a14")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

wrappers/csharp/cs-tutorial-5-pose/app.config

@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+<startup><supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5.2"/></startup></configuration>