You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
101 lines
4.3 KiB
101 lines
4.3 KiB
2 months ago
|
% Wraps librealsense2 device class
|
||
|
|
classdef device < handle
|
||
|
|
properties (SetAccess = private, Hidden = true)
|
||
|
|
objectHandle;
|
||
|
|
id;
|
||
|
|
end
|
||
|
|
methods (Access = protected)
|
||
|
|
function do_init(this)
|
||
|
|
if (this.id >= 0)
|
||
|
|
this.objectHandle = realsense.librealsense_mex('rs2::device', 'init', this.objectHandle, uint64(this.id));
|
||
|
|
this.id = -1;
|
||
|
|
end
|
||
|
|
end
|
||
|
|
end
|
||
|
|
methods
|
||
|
|
% Constructor
|
||
|
|
function this = device(handle, index)
|
||
|
|
narginchk(1, 2);
|
||
|
|
validateattributes(handle, {'uint64'}, {'scalar'});
|
||
|
|
this.objectHandle = handle;
|
||
|
|
if (nargin == 1) % constructed from device
|
||
|
|
this.id = -1;
|
||
|
|
else % lazily "constructed" from device_list
|
||
|
|
validateattributes(index, {'numeric'}, {'scalar', 'real', 'integer'});
|
||
|
|
this.id = int64(index);
|
||
|
|
end
|
||
|
|
end
|
||
|
|
% Destructor
|
||
|
|
function delete(this)
|
||
|
|
if (this.objectHandle ~= 0)
|
||
|
|
if (this.id < 0) % still device list
|
||
|
|
realsense.librealsense_mex('rs2::device', 'delete#uninit', this.objectHandle);
|
||
|
|
else
|
||
|
|
realsense.librealsense_mex('rs2::device', 'delete#init', this.objectHandle);
|
||
|
|
end
|
||
|
|
end
|
||
|
|
end
|
||
|
|
|
||
|
|
% Functions
|
||
|
|
function sensor_array = query_sensors(this)
|
||
|
|
this.do_init();
|
||
|
|
arr = realsense.librealsense_mex('rs2::device', 'query_sensors', this.objectHandle);
|
||
|
|
[sensor_array{1:nargout}] = arrayfun(@realsense.sensor, arr, 'UniformOutput', false);
|
||
|
|
end
|
||
|
|
function sensor = first(this, type)
|
||
|
|
narginchk(2, 2);
|
||
|
|
% C++ function validates contents of type
|
||
|
|
validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
|
||
|
|
this.do_init();
|
||
|
|
out = realsense.librealsense_mex('rs2::device', 'first', this.objectHandle, type);
|
||
|
|
sensor = realsense.sensor(out).as(type);
|
||
|
|
end
|
||
|
|
function value = supports(this, info)
|
||
|
|
narginchk(2, 2);
|
||
|
|
validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
|
||
|
|
this.do_init();
|
||
|
|
value = realsense.librealsense_mex('rs2::device', 'supports', this.objectHandle, int64(info));
|
||
|
|
end
|
||
|
|
function info = get_info(this, info)
|
||
|
|
narginchk(2, 2);
|
||
|
|
validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
|
||
|
|
this.do_init();
|
||
|
|
info = realsense.librealsense_mex('rs2::device', 'get_info', this.objectHandle, int64(info));
|
||
|
|
end
|
||
|
|
function hardware_reset(this)
|
||
|
|
this.do_init();
|
||
|
|
realsense.librealsense_mex('rs2::device', 'hardware_reset', this.objectHandle);
|
||
|
|
end
|
||
|
|
function l = logical(this)
|
||
|
|
l = realsense.librealsense_mex('rs2::device', 'operator bool', this.objectHandle);
|
||
|
|
end
|
||
|
|
function value = is(this, type)
|
||
|
|
narginchk(2, 2);
|
||
|
|
% C++ function validates contents of type
|
||
|
|
validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
|
||
|
|
this.do_init();
|
||
|
|
out = realsense.librealsense_mex('rs2::device', 'is', this.objectHandle, type);
|
||
|
|
value = logical(out);
|
||
|
|
end
|
||
|
|
function dev = as(this, type)
|
||
|
|
narginchk(2, 2);
|
||
|
|
% C++ function validates contents of type
|
||
|
|
validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
|
||
|
|
this.do_init();
|
||
|
|
out = realsense.librealsense_mex('rs2::device', 'as', this.objectHandle, type);
|
||
|
|
switch type
|
||
|
|
case 'device'
|
||
|
|
dev = realsense.device(out, -1);
|
||
|
|
case 'debug_protocol'
|
||
|
|
error('debug_protocol is not supported in Matlab');
|
||
|
|
case 'advanced_mode'
|
||
|
|
dev = realsense.advanced_mode(out, -1);
|
||
|
|
case 'recorder'
|
||
|
|
dev = realsense.recorder(out, -1);
|
||
|
|
case 'playback'
|
||
|
|
dev = realsense.playback(out, -1);
|
||
|
|
end
|
||
|
|
end
|
||
|
|
end
|
||
|
|
end
|