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87 lines
4.1 KiB
87 lines
4.1 KiB
2 months ago
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% Wraps librealsense2 frame class
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classdef frame < 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 = frame(handle)
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validateattributes(handle, {'uint64'}, {'scalar'});
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this.objectHandle = handle;
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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', 'delete', this.objectHandle);
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end
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end
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% Functions
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% TODO: keep
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function l = logical(this)
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l = realsense.librealsense_mex('rs2::frame', 'operator bool', this.objectHandle);
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end
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function sensor = get_sensor(this)
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out = realsense.librealsense_mex('rs2::frame', 'get_sensor', this.objectHandle);
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sensor = realsense.sensor(out);
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end
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function timestamp = get_timestamp(this)
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timestamp = realsense.librealsense_mex('rs2::frame', 'get_timestamp', this.objectHandle);
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end
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function domain = get_frame_timestamp_domain(this)
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ret = realsense.librealsense_mex('rs2::frame', 'get_frame_timestamp_domain', this.objectHandle);
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domain = realsense.timestamp_domain(ret);
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end
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function metadata = get_frame_metadata(this, frame_metadata)
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narginchk(2, 2);
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validateattributes(frame_metadata, {'realsense.frame_metadata_value', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.frame_metadata_value.count)}, '', 'frame_metadata', 2);
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metadata = realsense.librealsense_mex('rs2::frame', 'get_frame_metadata', this.objectHandle, int64(frame_metadata));
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end
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function value = supports_frame_metadata(this, frame_metadata)
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narginchk(2, 2);
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validateattributes(frame_metadata, {'realsense.frame_metadata_value', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.frame_metadata_value.count)}, '', 'frame_metadata', 2);
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value = realsense.librealsense_mex('rs2::frame', 'supports_frame_metadata', this.objectHandle, int64(frame_metadata));
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end
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function frame_number = get_frame_number(this)
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frame_number = realsense.librealsense_mex('rs2::frame', 'get_frame_number', this.objectHandle);
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end
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function data = get_data(this)
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data = realsense.librealsense_mex('rs2::frame', 'get_data', this.objectHandle);
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end
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function profile = get_profile(this)
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ret = realsense.librealsense_mex('rs2::frame', 'get_profile', this.objectHandle);
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profile = realsense.stream_profile(ret{:});
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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::frame', 'is', this.objectHandle, type);
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value = logical(out);
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end
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function frame = 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::frame', 'as', 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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end
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end
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