SensorList back to non-generic

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

@@ -54,13 +54,13 @@ internal static T Create<T>(IntPtr ptr, Base.Deleter deleter)
         /// create a static snapshot of all connected devices at the time of the call
         /// </summary>
         /// <returns>The list of sensors</returns>
-        public ReadOnlyCollection<T> QuerySensors<T>()  where T: Sensor
+        public ReadOnlyCollection<Sensor> QuerySensors()
         {
             object error;
             var ptr = NativeMethods.rs2_query_sensors(Handle, out error);
-            using (var sl = new SensorList<T>(ptr))
+            using (var sl = new SensorList(ptr))
             {
-                var a = new T[sl.Count];
+                var a = new Sensor[sl.Count];
                 sl.CopyTo(a, 0);
                 return Array.AsReadOnly(a);
             }
@@ -70,7 +70,7 @@ public ReadOnlyCollection<T> QuerySensors<T>()  where T: Sensor
         /// Gets a static snapshot of all connected devices at the time of the call
         /// </summary>
         /// <value>The list of sensors</value>
-        public ReadOnlyCollection<Sensor> Sensors => QuerySensors<Sensor>();
+        public ReadOnlyCollection<Sensor> Sensors => QuerySensors();
 
         /// <summary>
         /// Send hardware reset request to the device. The actual reset is asynchronous.

wrappers/csharp/Intel.RealSense/Frames/Frame.cs

@@ -183,12 +183,12 @@ public double Timestamp
 
         /// <summary>Gets the sensor owning the frame</summary>
         /// <value>the pointer to the sensor owning the frame</value>
-        public IntPtr Sensor
+        public Sensor Sensor
         {
             get
             {
                 object error;
-                return NativeMethods.rs2_get_frame_sensor(Handle, out error);
+                return Sensor.Create<Sensor>(NativeMethods.rs2_get_frame_sensor(Handle, out error));
             }
         }
 

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

@@ -42,16 +42,19 @@ public byte[] ExportLocalizationMap()
 
         public bool ImportLocalizationMap(byte[] mapBytes)
         {
-            IntPtr nativeBytes = Marshal.AllocHGlobal(mapBytes.Length);
-            Marshal.Copy(mapBytes, 0, nativeBytes, mapBytes.Length);
-
-            object error;
-            var res = NativeMethods.rs2_import_localization_map(Handle, nativeBytes, (uint)mapBytes.Length, out error);
-
-            Marshal.FreeHGlobal(nativeBytes);
-            nativeBytes = IntPtr.Zero;
-
-            return !(res == 0);
+            IntPtr nativeBytes = IntPtr.Zero;
+            try
+            {
+                nativeBytes = Marshal.AllocHGlobal(mapBytes.Length);
+                Marshal.Copy(mapBytes, 0, nativeBytes, mapBytes.Length);
+                object error;
+                var res = NativeMethods.rs2_import_localization_map(Handle, nativeBytes, (uint)mapBytes.Length, out error);
+                return !(res == 0);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(nativeBytes);
+            }
         }
 
         public bool SetStaticNode(string guid, Math.Vector position, Math.Quaternion rotation)

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

@@ -32,6 +32,17 @@ internal static T Create<T>(IntPtr ptr)
             return ObjectPool.Get<T>(ptr);
         }
 
+        /// <summary>Returns a strongly-typed clone</summary>
+        /// <typeparam name="T"><see cref="Sensor"/> type or subclass</typeparam>
+        /// <param name="other"><see cref="Sensor"/> to clone</param>
+        /// <returns>an instance of <typeparamref name="T"/></returns>
+        public static T Create<T>(Sensor other)
+            where T : Frame
+        {
+            object error;
+            return ObjectPool.Get<T>(other.Handle);
+        }
+
         internal Sensor(IntPtr sensor)
             : base(sensor, NativeMethods.rs2_delete_sensor)
         {
@@ -183,6 +194,15 @@ public bool Is(Extension ext)
             return NativeMethods.rs2_is_sensor_extendable_to(Handle, ext, out error) != 0;
         }
 
+        /// <summary>Returns a strongly-typed clone</summary>
+        /// <typeparam name="T"><see cref="Sensor"/> type or subclass</typeparam>
+        /// <returns>an instance of <typeparamref name="T"/></returns>
+        public T As<T>()
+            where T : Frame
+        {
+            return Create<T>(this);
+        }
+
         /// <summary>
         /// Gets the mapping between the units of the depth image and meters
         /// </summary>

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

@@ -13,23 +13,23 @@ namespace Intel.RealSense
     /// <summary>
     /// List of adjacent devices, sharing the same physical parent composite device
     /// </summary>
-    internal sealed class SensorList<T> : Base.Object, IEnumerable<T>, ICollection where T : Sensor
+    internal sealed class SensorList : Base.Object, IEnumerable<Sensor>, ICollection
     {
         internal SensorList(IntPtr ptr)
             : base(ptr, NativeMethods.rs2_delete_sensor_list)
         {
         }
 
         /// <inheritdoc/>
-        public IEnumerator<T> GetEnumerator()
+        public IEnumerator<Sensor> GetEnumerator()
         {
             object error;
 
             int sensorCount = NativeMethods.rs2_get_sensors_count(Handle, out error);
             for (int i = 0; i < sensorCount; i++)
             {
                 var ptr = NativeMethods.rs2_create_sensor(Handle, i, out error);
-                yield return Sensor.Create<T>(ptr);
+                yield return Sensor.Create<Sensor>(ptr);
             }
         }
 
@@ -80,7 +80,7 @@ public Sensor this[int index]
             {
                 object error;
                 var ptr = NativeMethods.rs2_create_sensor(Handle, index, out error);
-                return Sensor.Create<T>(ptr);
+                return Sensor.Create<Sensor>(ptr);
             }
         }
     }

wrappers/csharp/cs-tutorial-1-depth/Program.cs

@@ -21,7 +21,7 @@ static void Main(string[] args)
                 Console.WriteLine("    Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
                 Console.WriteLine("    Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
 
-                var depthSensor = dev.QuerySensors<Sensor>()[0];
+                var depthSensor = dev.QuerySensors()[0];
 
                 var sp = depthSensor.StreamProfiles
                                     .Where(p => p.Stream == Stream.Depth)

wrappers/csharp/cs-tutorial-2-capture/Window.xaml.cs

@@ -80,7 +80,7 @@ public CaptureWindow()
 
                             Dispatcher.Invoke(new Action(() =>
                             {
-                                String depth_dev_sn = new Sensor.CameraInfos(depthFrame.Sensor)[CameraInfo.SerialNumber];
+                                String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
                                 txtTimeStamp.Text = depth_dev_sn + " : " + String.Format("{0,-20:0.00}", depthFrame.Timestamp) + "(" + depthFrame.TimestampDomain.ToString() + ")";
                             }));
                         }

wrappers/csharp/cs-tutorial-3-processing/Window.xaml.cs

@@ -55,7 +55,7 @@ public ProcessingWindow()
                 var pp = pipeline.Start(cfg);
 
                 // Get the recommended processing blocks for the depth sensor
-                var sensor = pp.Device.QuerySensors<Sensor>().First(s => s.Is(Extension.DepthSensor));
+                var sensor = pp.Device.QuerySensors().First(s => s.Is(Extension.DepthSensor));
                 var blocks = sensor.ProcessingBlocks.ToList();
 
                 // Allocate bitmaps for rendring.