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38 lines
1.8 KiB
38 lines
1.8 KiB
% Wraps librealsense2 pointcloud class
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classdef pointcloud < realsense.filter
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methods
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% Constructor
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function this = pointcloud(stream, index)
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switch nargin
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case 0
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out = realsense.librealsense_mex('rs2::pointcloud', 'new');
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case 1
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validateattributes(stream, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count});
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out = realsense.librealsense_mex('rs2::pointcloud', 'new', int64(stream));
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case 2
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validateattributes(stream, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count});
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validateattributes(index, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'});
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out = realsense.librealsense_mex('rs2::pointcloud', 'new', int64(stream), int64(index));
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end
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this = this@realsense.filter(out);
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end
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% Destructor (uses base class destructor)
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% Functions
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function points = calculate(this, depth)
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narginchk(2, 2)
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validateattributes(depth, {'realsense.frame'}, {'scalar'}, '', 'depth', 2);
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if ~depth.is('depth_frame')
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error('Expected input number 2, depth, to be a depth_frame');
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end
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out = realsense.librealsense_mex('rs2::pointcloud', 'calculate', this.objectHandle, depth.objectHandle);
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points = realsense.points(out);
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end
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function map_to(this, mapped)
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narginchk(2, 2)
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validateattributes(mapped, {'realsense.frame'}, {'scalar'}, '', 'mapped', 2);
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realsense.librealsense_mex('rs2::pointcloud', 'map_to', this.objectHandle, mapped.objectHandle);
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end
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end
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end |