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70 lines
2.8 KiB
70 lines
2.8 KiB
2 months ago
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% Wraps librealsense2 frame_queue class
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classdef frame_queue < handle
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properties (SetAccess = private, Hidden = true)
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objectHandle;
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end
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methods
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% Constructor
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function this = frame_queue(capacity)
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if nargin == 0
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this.objectHandle = realsense.librealsense_mex('rs2::frame_queue', 'new');
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else
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validateattributes(capacity, {'numeric'}, {'scalar', 'positive', 'real', 'integer'});
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this.objectHandle = realsense.librealsense_mex('rs2::frame_queue', 'new', uint64(capacity));
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end
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end
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% Destructor
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function delete(this)
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if (this.objectHandle ~= 0)
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realsense.librealsense_mex('rs2::frame_queue', 'delete', this.objectHandle);
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end
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end
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% Functions
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function frame = wait_for_frame(this, timeout_ms)
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narginchk(1, 2);
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if nargin == 1
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out = realsense.librealsense_mex('rs2::frame_queue', 'wait_for_frame', this.objectHandle);
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else
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if isduration(timeout_ms)
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timeout_ms = milliseconds(timeout_ms);
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end
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validateattributes(timeout_ms, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'}, '', 'timeout_ms', 2);
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out = realsense.librealsense_mex('rs2::frame_queue', 'wait_for_frame', this.objectHandle, double(timeout_ms));
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end
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frame = realsense.frame(out);
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end
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function [res, frame] = poll_for_frame(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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[res, out] = realsense.librealsense_mex('rs2::frame_queue', 'poll_for_frame', this.objectHandle, type);
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switch type
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case 'frame'
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frame = realsense.frame(out);
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case 'video_frame'
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frame = realsense.video_frame(out);
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case 'points'
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frame = realsense.points(out);
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case 'depth_frame'
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frame = realsense.depth_frame(out);
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case 'disparity_frame'
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frame = realsense.disparity_frame(out);
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case 'motion_frame'
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frame = realsense.motion_frame(out);
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case 'pose_frame'
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frame = realsense.pose_frame(out);
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case 'frameset'
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frame = realsense.frameset(out);
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end
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end
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function cap = capacity(this)
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cap = realsense.librealsense_mex('rs2::frame_queue', 'capacity', this.objectHandle);
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end
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function keep = keep_frames(this)
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keep = realsense.librealsense_mex('rs2::frame_queue', 'keep_frames', this.objectHandle);
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end
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end
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end
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