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101 lines
4.3 KiB
101 lines
4.3 KiB
% Wraps librealsense2 device class
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classdef device < handle
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properties (SetAccess = private, Hidden = true)
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objectHandle;
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id;
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end
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methods (Access = protected)
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function do_init(this)
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if (this.id >= 0)
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this.objectHandle = realsense.librealsense_mex('rs2::device', 'init', this.objectHandle, uint64(this.id));
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this.id = -1;
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end
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end
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end
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methods
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% Constructor
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function this = device(handle, index)
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narginchk(1, 2);
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validateattributes(handle, {'uint64'}, {'scalar'});
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this.objectHandle = handle;
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if (nargin == 1) % constructed from device
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this.id = -1;
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else % lazily "constructed" from device_list
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validateattributes(index, {'numeric'}, {'scalar', 'real', 'integer'});
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this.id = int64(index);
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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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if (this.id < 0) % still device list
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realsense.librealsense_mex('rs2::device', 'delete#uninit', this.objectHandle);
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else
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realsense.librealsense_mex('rs2::device', 'delete#init', this.objectHandle);
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end
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end
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end
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% Functions
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function sensor_array = query_sensors(this)
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this.do_init();
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arr = realsense.librealsense_mex('rs2::device', 'query_sensors', this.objectHandle);
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[sensor_array{1:nargout}] = arrayfun(@realsense.sensor, arr, 'UniformOutput', false);
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end
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function sensor = first(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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this.do_init();
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out = realsense.librealsense_mex('rs2::device', 'first', this.objectHandle, type);
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sensor = realsense.sensor(out).as(type);
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end
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function value = supports(this, info)
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narginchk(2, 2);
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validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
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this.do_init();
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value = realsense.librealsense_mex('rs2::device', 'supports', this.objectHandle, int64(info));
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end
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function info = get_info(this, info)
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narginchk(2, 2);
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validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', int64(realsense.camera_info.count)}, '', 'info', 2);
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this.do_init();
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info = realsense.librealsense_mex('rs2::device', 'get_info', this.objectHandle, int64(info));
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end
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function hardware_reset(this)
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this.do_init();
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realsense.librealsense_mex('rs2::device', 'hardware_reset', this.objectHandle);
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end
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function l = logical(this)
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l = realsense.librealsense_mex('rs2::device', 'operator bool', this.objectHandle);
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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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this.do_init();
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out = realsense.librealsense_mex('rs2::device', 'is', this.objectHandle, type);
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value = logical(out);
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end
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function dev = 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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this.do_init();
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out = realsense.librealsense_mex('rs2::device', 'as', this.objectHandle, type);
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switch type
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case 'device'
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dev = realsense.device(out, -1);
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case 'debug_protocol'
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error('debug_protocol is not supported in Matlab');
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case 'advanced_mode'
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dev = realsense.advanced_mode(out, -1);
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case 'recorder'
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dev = realsense.recorder(out, -1);
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case 'playback'
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dev = realsense.playback(out, -1);
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end
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end
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end
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end
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