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79 lines
3.6 KiB
79 lines
3.6 KiB
2 months ago
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% Wraps librealsense2 sensor class
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classdef sensor < realsense.options
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methods
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% Constructor
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function this = sensor(handle)
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this = this@realsense.options(handle);
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end
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% Destructor (uses base class destructor)
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% Functions
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function open(this, profiles)
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narginchk(2, 2)
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validateattributes(profiles, {'realsense.stream_profile'}, {'nonempty', 'vector'}, '', 'profiles', 2);
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if isscalar(profiles)
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realsense.librealsense_mex('rs2::sensor', 'open#stream_profile', this.objectHandle, profiles.objectHandle);
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else
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realsense.librealsense_mex('rs2::sensor', 'open#vec_stream_profile', this.objectHandle, profiles);
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end
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end
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function value = supports_camera_info(this, info)
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narginchk(2, 2)
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validateattributes(info, {'realsense.camera_info', 'numeric'},{'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
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value = realsense.librealsense_mex('rs2::sensor', 'supports#rs2_camera_info', this.objectHandle, int64(info));
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end
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function value = get_info(this, info)
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narginchk(2, 2)
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validateattributes(info, {'realsense.camera_info', 'numeric'},{'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
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value = realsense.librealsense_mex('rs2::sensor', 'get_info', this.objectHandle, int64(info));
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end
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function close(this)
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realsense.librealsense_mex('rs2::sensor', 'close', this.objectHandle);
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end
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% TODO: start [etc?]
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function start(this, queue)
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narginchk(2, 2);
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validateattributes(queue, {'realsense.frame_queue'}, {'scalar'}, '', 'queue', 2);
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realsense.librealsense_mex('rs2::sensor', 'start', this.objectHandle, queue.objectHandle);
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end
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function stop(this)
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realsense.librealsense_mex('rs2::sensor', 'stop', this.objectHandle);
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end
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function profiles = get_stream_profiles(this)
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arr = realsense.librealsense_mex('rs2::sensor', 'get_stream_profiles', this.objectHandle);
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% TODO: Might be cell array
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profiles = arrayfun(@(x) realsense.stream_profile(x{:}{:}), arr, 'UniformOutput', false);
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end
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function l = logical(this)
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l = realsense.librealsense_mex('rs2::sensor', 'operator bool', this.objectHandle);
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end
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function value = is(this, type)
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narginchk(2, 2);
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% C++ function validates contents of type
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validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
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out = realsense.librealsense_mex('rs2::sensor', 'is', this.objectHandle, type);
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value = logical(out);
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end
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function sensor = as(this, type)
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narginchk(2, 2);
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% C++ function validates contents of type
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validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
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out = realsense.librealsense_mex('rs2::sensor', 'as', this.objectHandle, type);
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switch type
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case 'sensor'
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sensor = realsense.sensor(out);
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case 'roi_sensor'
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sensor = realsense.roi_sensor(out);
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case 'depth_sensor'
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sensor = realsense.depth_sensor(out);
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case 'depth_stereo_sensor'
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sensor = realsense.depth_stereo_sensor(out);
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end
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end
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% Operators
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% TODO: operator==
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end
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end
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