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67 lines
3.2 KiB
67 lines
3.2 KiB
2 months ago
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% Wraps librealsense2 pipeline class
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classdef pipeline < handle
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properties (SetAccess = protected, 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 = pipeline(ctx)
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if nargin == 0
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this.objectHandle = realsense.librealsense_mex('rs2::pipeline', 'new');
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else
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validateattributes(ctx, {'realsense.context'}, {'scalar'});
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this.objectHandle = realsense.librealsense_mex('rs2::pipeline', 'new', ctx.objectHandle);
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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::pipeline', 'delete', this.objectHandle);
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end
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end
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% Functions
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function pipeline_profile = start(this, varargin)
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narginchk(1, 3);
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if nargin == 1
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out = realsense.librealsense_mex('rs2::pipeline', 'start', this.objectHandle);
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elseif nargin == 2
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validateattributes(varargin{1}, {'realsense.config', 'realsense.frame_queue'}, {'scalar'}, '', 'config_or_framequeue', 2);
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if isa(varargin{1}, 'realsense.config')
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out = realsense.librealsense_mex('rs2::pipeline', 'start', this.objectHandle, varargin{1}.objectHandle);
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else
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out = realsense.librealsense_mex('rs2::pipeline', 'start#fq', this.objectHandle, varargin{1}.objectHandle);
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end
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else
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validateattributes(varargin{1}, {'realsense.config'}, {'scalar'}, '', 'config', 2);
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validateattributes(varargin{2}, {'realsense.frame_queue'}, {'scalar'}, '', 'frame_queue', 2);
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out = realsense.librealsense_mex('rs2::pipeline', 'start#fq', this.objectHandle, varargin{1}.objectHandle, varargin{2}.objectHandle);
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end
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pipeline_profile = realsense.pipeline_profile(out);
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end
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function stop(this)
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realsense.librealsense_mex('rs2::pipeline', 'stop', this.objectHandle);
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end
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function frames = wait_for_frames(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::pipeline', 'wait_for_frames', 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::pipeline', 'wait_for_frames', this.objectHandle, double(timeout_ms));
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end
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frames = realsense.frameset(out);
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end
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function [res, frames] = poll_for_frames(this)
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[res, out] = realsense.librealsense_mex('rs2::pipeline', 'poll_for_frames', this.objectHandle);
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frames = realsense.frameset(out);
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end
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function profile = get_active_profile(this)
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out = realsense.librealsense_mex('rs2::pipeline', 'get_active_profile', this.objectHandle);
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profile = realsense.pipeline_profile(out);
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end
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end
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end
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