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librealsense_mex.cpp
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librealsense_mex.cpp
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#include "MatlabParamParser.h"
#include "Factory.h"
#include "librealsense2/rs.hpp"
#include "librealsense2/hpp/rs_export.hpp"
#pragma comment(lib, "libmx.lib")
#pragma comment(lib, "libmex.lib")
#pragma comment(lib, "libmat.lib")
#pragma comment(lib, "realsense2.lib")
Factory *factory;
void make_factory(){
factory = new Factory();
// rs_frame.hpp
{
ClassFactory stream_profile_factory("rs2::stream_profile");
stream_profile_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
outv[0] = MatlabParamParser::wrap(rs2::stream_profile());
});
stream_profile_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::stream_profile>(inv[0]);
});
stream_profile_factory.record("stream_index", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.stream_index());
});
stream_profile_factory.record("stream_type", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.stream_type());
});
stream_profile_factory.record("format", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.format());
});
stream_profile_factory.record("fps", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.fps());
});
stream_profile_factory.record("unique_id", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.unique_id());
});
stream_profile_factory.record("clone", 1, 4, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
auto type = MatlabParamParser::parse<rs2_stream>(inv[1]);
auto index = MatlabParamParser::parse<int>(inv[2]);
auto format = MatlabParamParser::parse<rs2_format>(inv[3]);
outv[0] = MatlabParamParser::wrap(thiz.clone(type, index, format));
});
stream_profile_factory.record("operator==", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto rhs = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
auto lhs = MatlabParamParser::parse<rs2::stream_profile>(inv[1]);
MatlabParamParser::wrap(rhs == lhs);
});
stream_profile_factory.record("is", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::stream_profile>());
else if (type == "video_stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::video_stream_profile>());
else if (type == "motion_stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::motion_stream_profile>());
else {
mexWarnMsgTxt("rs2::stream_profile::is: invalid type parameter");
outv[0] = MatlabParamParser::wrap(false);
}
});
stream_profile_factory.record("as", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::stream_profile>());
else if (type == "video_stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::video_stream_profile>());
else if (type == "motion_stream_profile")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::motion_stream_profile>());
else {
mexWarnMsgTxt("rs2::stream_profile::as: invalid type parameter");
outv[0] = MatlabParamParser::wrap(uint64_t(0));
}
});
stream_profile_factory.record("stream_name", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.stream_name());
});
stream_profile_factory.record("is_default", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.is_default());
});
stream_profile_factory.record("operator bool", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(bool(thiz));
});
stream_profile_factory.record("get_extrinsics_to", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
auto to = MatlabParamParser::parse<rs2::stream_profile>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_extrinsics_to(to));
});
// rs2::stream_profile::register_extrinsics_to [?]
stream_profile_factory.record("is_cloned", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.is_cloned());
});
factory->record(stream_profile_factory);
}
{
ClassFactory video_stream_profile_factory("rs2::video_stream_profile");
// rs2::video_stream_profile::constructor(rs2::stream_profile) [?]
video_stream_profile_factory.record("width", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.width());
});
video_stream_profile_factory.record("height", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.height());
});
video_stream_profile_factory.record("get_intrinsics", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_intrinsics());
});
factory->record(video_stream_profile_factory);
}
{
ClassFactory motion_stream_profile_factory("rs2::motion_stream_profile");
// rs2::motion_stream_profile::constructor(rs2::stream_profile) [?]
motion_stream_profile_factory.record("get_motion_intrinsics", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::motion_stream_profile>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_motion_intrinsics());
});
factory->record(motion_stream_profile_factory);
}
//{
// ClassFactory pose_stream_profile_factory("rs2::pose_stream_profile");
// // rs2::pose_stream_profile::constructor(rs2::stream_profile) [?]
// factory->record(pose_stream_profile_factory);
//}
{
ClassFactory frame_factory("rs2::frame");
// rs2::frame::constructor() [?]
frame_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::frame>(inv[0]);
});
// rs2::frame::operator= [?/HOW]
// rs2::frame::copy constructor [?/HOW]
// rs2::frame::swap [?/HOW]
// rs2::frame::keep [TODO/HOW]
frame_factory.record("operator bool", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(bool(thiz));
});
frame_factory.record("get_timestamp", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_timestamp());
});
frame_factory.record("get_frame_timestamp_domain", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_frame_timestamp_domain());
});
frame_factory.record("get_frame_metadata", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
auto frame_metadata = MatlabParamParser::parse<rs2_frame_metadata_value>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_frame_metadata(frame_metadata));
});
frame_factory.record("supports_frame_metadata", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
auto frame_metadata = MatlabParamParser::parse<rs2_frame_metadata_value>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.supports_frame_metadata(frame_metadata));
});
frame_factory.record("get_frame_number", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_frame_number());
});
frame_factory.record("get_data", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
size_t n_bytes = 0;
if (auto vf = thiz.as<rs2::video_frame>()) {
n_bytes = vf.get_height() * vf.get_stride_in_bytes();
} // TODO: support more frame types?
switch (thiz.get_profile().format()) {
case RS2_FORMAT_RAW10:
// TODO: Do the bit hackery ourselves?
mexWarnMsgTxt("Raw10 data provided as unsigned byte array.");
case RS2_FORMAT_RGB8: case RS2_FORMAT_RGBA8:
case RS2_FORMAT_BGR8: case RS2_FORMAT_BGRA8:
case RS2_FORMAT_Y8: case RS2_FORMAT_RAW8:
if (n_bytes == 0) {
n_bytes = 1;
mexWarnMsgTxt("Can't detect frame dims, sending only first pixel");
}
outv[0] = MatlabParamParser::wrap_array(reinterpret_cast<const uint8_t*>(thiz.get_data()), n_bytes);
break;
case RS2_FORMAT_Z16: case RS2_FORMAT_DISPARITY16:
case RS2_FORMAT_Y16: case RS2_FORMAT_RAW16:
if (n_bytes == 0) {
n_bytes = 2;
mexWarnMsgTxt("Can't detect frame dims, sending only first pixel");
}
outv[0] = MatlabParamParser::wrap_array(reinterpret_cast<const uint16_t*>(thiz.get_data()), n_bytes / 2);
break;
case RS2_FORMAT_XYZ32F: case RS2_FORMAT_DISPARITY32:
case RS2_FORMAT_MOTION_XYZ32F:
if (n_bytes == 0) {
n_bytes = 4;
mexWarnMsgTxt("Can't detect frame dims, sending only first pixel");
}
outv[0] = MatlabParamParser::wrap_array(reinterpret_cast<const float*>(thiz.get_data()), n_bytes / 4);
break;
case RS2_FORMAT_UYVY: case RS2_FORMAT_YUYV:
if (n_bytes == 0) {
n_bytes = 4;
mexWarnMsgTxt("Can't detect frame dims, sending only first pixel");
}
outv[0] = MatlabParamParser::wrap_array(reinterpret_cast<const uint32_t*>(thiz.get_data()), n_bytes / 4);
break;
default:
mexWarnMsgTxt("This format isn't supported yet. Sending unsigned byte stream");
if (n_bytes == 0) {
n_bytes = 1;
mexWarnMsgTxt("Can't detect frame dims, sending only first pixel");
}
outv[0] = MatlabParamParser::wrap_array(reinterpret_cast<const uint8_t*>(thiz.get_data()), n_bytes);
}
});
frame_factory.record("get_profile", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_profile());
});
frame_factory.record("is", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::frame>());
else if (type == "video_frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::video_frame>());
else if (type == "points")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::points>());
else if (type == "depth_frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::depth_frame>());
else if (type == "disparity_frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::disparity_frame>());
else if (type == "motion_frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::motion_frame>());
else if (type == "pose_frame")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::pose_frame>());
else if (type == "frameset")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::frameset>());
else {
mexWarnMsgTxt("rs2::frame::is: invalid type parameter");
outv[0] = MatlabParamParser::wrap(false);
}
});
frame_factory.record("as", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::frame>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::frame>());
else if (type == "video_frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::video_frame>());
else if (type == "points")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::points>());
else if (type == "depth_frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::depth_frame>());
else if (type == "disparity_frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::disparity_frame>());
else if (type == "motion_frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::motion_frame>());
else if (type == "pose_frame")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::pose_frame>());
else if (type == "frameset")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::frameset>());
else {
mexWarnMsgTxt("rs2::frame::as: invalid type parameter");
outv[0] = MatlabParamParser::wrap(uint64_t(0));
}
});
factory->record(frame_factory);
}
{
ClassFactory video_frame_factory("rs2::video_frame");
// rs2::video_frame::constructor() [?]
video_frame_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::video_frame>(inv[0]);
});
video_frame_factory.record("get_width", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_width());
});
video_frame_factory.record("get_height", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_height());
});
video_frame_factory.record("get_stride_in_bytes", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_stride_in_bytes());
});
video_frame_factory.record("get_bits_per_pixel", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_bits_per_pixel());
});
video_frame_factory.record("get_bytes_per_pixel", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::video_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_bytes_per_pixel());
});
factory->record(video_frame_factory);
}
{
ClassFactory points_factory("rs2::points");
// rs2::points::constructor() [?]
// rs2::points::constrcutor(rs2::frame) [?]
points_factory.record("get_vertices", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::points>(inv[0]);
// TODO: turn into matrix instead of column?
outv[0] = MatlabParamParser::wrap_array(thiz.get_vertices(), thiz.size());
});
points_factory.record("export_to_ply", 0, 3, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::points>(inv[0]);
auto fname = MatlabParamParser::parse<std::string>(inv[1]);
auto texture = MatlabParamParser::parse<rs2::video_frame>(inv[2]);
thiz.export_to_ply(fname, texture);
});
points_factory.record("get_texture_coordinates", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::points>(inv[0]);
// TODO: turn into matrix instead of column?
outv[0] = MatlabParamParser::wrap_array(thiz.get_texture_coordinates(), thiz.size());
});
points_factory.record("size", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::points>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.size());
});
factory->record(points_factory);
}
{
ClassFactory depth_frame_factory("rs2::depth_frame");
// rs2::depth_frame::constructor() [?]
depth_frame_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::depth_frame>(inv[0]);
});
depth_frame_factory.record("get_distance", 1, 3, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::depth_frame>(inv[0]);
auto x = MatlabParamParser::parse<int>(inv[1]);
auto y = MatlabParamParser::parse<int>(inv[2]);
outv[0] = MatlabParamParser::wrap(thiz.get_distance(x, y));
});
factory->record(depth_frame_factory);
}
{
ClassFactory disparity_frame_factory("rs2::disparity_frame");
// rs2::disparity_frame::constructor(rs2::frame) [?]
disparity_frame_factory.record("get_baseline", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::disparity_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_baseline());
});
factory->record(disparity_frame_factory);
}
{
ClassFactory motion_frame_factory("rs2::motion_frame");
// rs2::motion_frame::constructor(rs2::frame) [?]
motion_frame_factory.record("get_motion_data", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::motion_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_motion_data());
});
factory->record(motion_frame_factory);
}
{
ClassFactory pose_frame_factory("rs2::pose_frame");
// rs2::pose_frame::constructor(rs2::frame) [?]
pose_frame_factory.record("get_pose_data", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::pose_frame>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_pose_data());
});
factory->record(pose_frame_factory);
}
{
ClassFactory frameset_factory("rs2::frameset");
// rs2::frameset::constructor() [?]
// rs2::frameset::constructor(frame) [?]
frameset_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::frameset>(inv[0]);
});
frameset_factory.record("first_or_default", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
auto s = MatlabParamParser::parse<rs2_stream>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.first_or_default(s));
});
frameset_factory.record("first", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
auto s = MatlabParamParser::parse<rs2_stream>(inv[1]);
// try/catch moved to outer framework
outv[0] = MatlabParamParser::wrap(thiz.first(s));
});
frameset_factory.record("get_depth_frame", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
// try/catch moved to outer framework
outv[0] = MatlabParamParser::wrap(thiz.get_depth_frame());
});
frameset_factory.record("get_color_frame", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
// try/catch moved to outer framework
outv[0] = MatlabParamParser::wrap(thiz.get_color_frame());
});
frameset_factory.record("get_infrared_frame", 1, 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
// try/catch moved to outer framework
if (inc == 1)
outv[0] = MatlabParamParser::wrap(thiz.get_infrared_frame());
else {
auto index = MatlabParamParser::parse<size_t>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_infrared_frame(index));
}
});
frameset_factory.record("get_fisheye_frame", 1, 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
// try/catch moved to outer framework
if (inc == 1)
outv[0] = MatlabParamParser::wrap(thiz.get_fisheye_frame());
else {
auto index = MatlabParamParser::parse<size_t>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_fisheye_frame(index));
}
});
frameset_factory.record("get_pose_frame", 1, 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
// try/catch moved to outer framework
if (inc == 1)
outv[0] = MatlabParamParser::wrap(thiz.get_pose_frame());
else {
auto index = MatlabParamParser::parse<size_t>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_pose_frame(index));
}
});
frameset_factory.record("size", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frameset>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.size());
});
// rs2::frameset::foreach [?/Callbacks]
// rs2::frameset::operator[] [?/HOW]
// rs2::frameset::iterator+begin+end [Pure Matlab?]
factory->record(frameset_factory);
}
// rs_sensor.hpp
// rs2::notification [?]
{
ClassFactory options_factory("rs2::options");
options_factory.record("supports#rs2_option", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.supports(option));
});
options_factory.record("get_option_description", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_option_description(option));
});
options_factory.record("get_option_value_description", 1, 3, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
auto val = MatlabParamParser::parse<float>(inv[2]);
outv[0] = MatlabParamParser::wrap(thiz.get_option_value_description(option, val));
});
options_factory.record("get_option", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_option(option));
});
options_factory.record("get_option_range", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_option_range(option));
});
options_factory.record("set_option", 0, 3, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
auto val = MatlabParamParser::parse<float>(inv[2]);
thiz.set_option(option, val);
});
options_factory.record("is_option_read_only", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::options>(inv[0]);
auto option = MatlabParamParser::parse<rs2_option>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.is_option_read_only(option));
});
// rs2::options::operator= [?/HOW]
options_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::options>(inv[0]);
});
factory->record(options_factory);
}
{
ClassFactory sensor_factory("rs2::sensor");
// rs2::sensor::constructor() [?]
sensor_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::sensor>(inv[0]);
});
sensor_factory.record("open#stream_profile", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto profile = MatlabParamParser::parse<rs2::stream_profile>(inv[1]);
thiz.open(profile);
});
sensor_factory.record("supports#rs2_camera_info", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto info = MatlabParamParser::parse<rs2_camera_info>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.supports(info));
});
sensor_factory.record("get_info", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto info = MatlabParamParser::parse<rs2_camera_info>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_info(info));
});
sensor_factory.record("open#vec_stream_profile", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto profiles = MatlabParamParser::parse<std::vector<rs2::stream_profile>>(inv[1]);
thiz.open(profiles);
});
sensor_factory.record("close", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
thiz.close();
});
// rs2::sensor::start(*) [?/Which/Callbacks]
sensor_factory.record("start#frame_queue", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto queue = MatlabParamParser::parse<rs2::frame_queue>(inv[1]);
thiz.start(queue);
});
sensor_factory.record("stop", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
thiz.stop();
});
sensor_factory.record("get_stream_profiles", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
MatlabParamParser::wrap(thiz.get_stream_profiles());
});
// rs2::sensor::operator= [?]
sensor_factory.record("operator bool", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
outv[0] = MatlabParamParser::wrap(bool(thiz));
});
sensor_factory.record("is", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "sensor")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::sensor>());
else if (type == "roi_sensor")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::roi_sensor>());
else if (type == "depth_sensor")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::depth_sensor>());
else if (type == "depth_stereo_sensor")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::depth_stereo_sensor>());
else {
mexWarnMsgTxt("rs2::sensor::is: invalid type parameter");
outv[0] = MatlabParamParser::wrap(false);
}
});
sensor_factory.record("as", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "sensor")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::sensor>());
else if (type == "roi_sensor")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::roi_sensor>());
else if (type == "depth_sensor")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::depth_sensor>());
else if (type == "depth_stereo_sensor")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::depth_stereo_sensor>());
else {
mexWarnMsgTxt("rs2::sensor::as: invalid type parameter");
outv[0] = MatlabParamParser::wrap(uint64_t(0));
}
});
sensor_factory.record("operator==", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto rhs = MatlabParamParser::parse<rs2::sensor>(inv[0]);
auto lhs = MatlabParamParser::parse<rs2::sensor>(inv[1]);
MatlabParamParser::wrap(rhs == lhs);
});
factory->record(sensor_factory);
}
{
ClassFactory roi_sensor_factory("rs2::roi_sensor");
// rs2::roi_sensor::constructor(rs2::sensor) [?]
roi_sensor_factory.record("set_region_of_interest", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::roi_sensor>(inv[0]);
auto roi = MatlabParamParser::parse<rs2::region_of_interest>(inv[1]);
thiz.set_region_of_interest(roi);
});
roi_sensor_factory.record("get_region_of_interest", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::roi_sensor>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_region_of_interest());
});
// rs2::roi_sensor::operator bool [?]
factory->record(roi_sensor_factory);
}
{
ClassFactory depth_sensor_factory("rs2::depth_sensor");
// rs2::depth_sensor::constructor(rs2::sensor) [?]
depth_sensor_factory.record("get_depth_scale", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::depth_sensor>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_depth_scale());
});
// rs2::depth_sensor::operator bool [?]
factory->record(depth_sensor_factory);
}
{
ClassFactory depth_stereo_sensor_factory("rs2::depth_stereo_sensor");
// rs2::depth_stereo_sensor::constructor(rs2::sensor) [?]
depth_stereo_sensor_factory.record("get_stereo_baseline", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::depth_stereo_sensor>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_stereo_baseline());
});
factory->record(depth_stereo_sensor_factory);
}
// rs_device.hpp
{
ClassFactory device_factory("rs2::device");
// rs2::device::constructor() [?]
// extra helper function for constructing device from device_list
device_factory.record("init", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto list = MatlabParamParser::parse<rs2::device_list>(inv[0]);
auto idx = MatlabParamParser::parse<uint32_t>(inv[1]);
outv[0] = MatlabParamParser::wrap(list[idx]);
MatlabParamParser::destroy<rs2::device_list>(inv[0]);
});
// destructor in case device was never initialized
device_factory.record("delete#uninit", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::device_list>(inv[0]);
});
// destructor in case device was initialized
device_factory.record("delete#init", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
MatlabParamParser::destroy<rs2::device>(inv[0]);
});
device_factory.record("query_sensors", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.query_sensors());
});
device_factory.record("first", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: better, more maintainable implementation?
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
try {
if (type == "sensor")
outv[0] = MatlabParamParser::wrap(thiz.first<rs2::sensor>());
else if (type == "roi_sensor")
outv[0] = MatlabParamParser::wrap(thiz.first<rs2::roi_sensor>());
else if (type == "depth_sensor")
outv[0] = MatlabParamParser::wrap(thiz.first<rs2::depth_sensor>());
else if (type == "depth_stereo_sensor")
outv[0] = MatlabParamParser::wrap(thiz.first<rs2::depth_stereo_sensor>());
else mexErrMsgTxt("rs2::device::first: Could not find requested sensor type!");
}
catch (rs2::error) {
mexErrMsgTxt("rs2::device::first: Could not find requested sensor type!");
}
});
device_factory.record("supports", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
auto info = MatlabParamParser::parse<rs2_camera_info>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.supports(info));
});
device_factory.record("get_info", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
auto info = MatlabParamParser::parse<rs2_camera_info>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.get_info(info));
});
device_factory.record("hardware_reset", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
thiz.hardware_reset();
});
// rs2::device::operator= [?]
device_factory.record("operator bool", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
outv[0] = MatlabParamParser::wrap(bool(thiz));
});
device_factory.record("is", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "device")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::device>());
else if (type == "debug_protocol") {
mexWarnMsgTxt("rs2::device::is: Debug Protocol not supported in MATLAB");
outv[0] = MatlabParamParser::wrap(false);
}
else if (type == "advanced_mode") {
mexWarnMsgTxt("rs2::device::is: Advanced Mode not supported in MATLAB");
outv[0] = MatlabParamParser::wrap(false);
}
else if (type == "recorder")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::recorder>());
else if (type == "playback")
outv[0] = MatlabParamParser::wrap(thiz.is<rs2::playback>());
else {
mexWarnMsgTxt("rs2::device::is: invalid type parameter");
outv[0] = MatlabParamParser::wrap(false);
}
});
device_factory.record("as", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
// TODO: something more maintainable?
auto thiz = MatlabParamParser::parse<rs2::device>(inv[0]);
auto type = MatlabParamParser::parse<std::string>(inv[1]);
if (type == "device")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::device>());
else if (type == "debug_protocol") {
mexErrMsgTxt("rs2::device::as: Debug Protocol not supported in MATLAB");
// outv[0] = MatlabParamParser::wrap(thiz.as<rs2::debug_protocol>());
}
else if (type == "advanced_mode") {
mexErrMsgTxt("rs2::device::as: Advanced Mode not supported in MATLAB");
// outv[0] = MatlabParamParser::wrap(false);
}
else if (type == "recorder")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::recorder>());
else if (type == "playback")
outv[0] = MatlabParamParser::wrap(thiz.as<rs2::playback>());
else {
mexWarnMsgTxt("rs2::device::as: invalid type parameter");
outv[0] = MatlabParamParser::wrap(false);
}
});
factory->record(device_factory);
}
// rs2::debug_protocol [?]
// rs2::device_list [Pure Matlab]
// rs2_record_playback.hpp
{
ClassFactory playback_factory("rs2::playback");
// rs2::playback::constructor(rs2::device) [?]
playback_factory.record("pause", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
thiz.pause();
});
playback_factory.record("resume", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
thiz.resume();
});
playback_factory.record("file_name", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.file_name());
});
playback_factory.record("get_position", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_position());
});
playback_factory.record("get_duration", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.get_duration());
});
playback_factory.record("seek", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
auto time = MatlabParamParser::parse<std::chrono::nanoseconds>(inv[1]);
thiz.seek(time);
});
playback_factory.record("is_real_time", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.is_real_time());
});
playback_factory.record("set_real_time", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
auto real_time = MatlabParamParser::parse<bool>(inv[1]);
thiz.set_real_time(real_time);
});
playback_factory.record("set_playback_speed", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
auto speed = MatlabParamParser::parse<float>(inv[1]);
thiz.set_playback_speed(speed);
});
// rs2::playback::set_status_changed_callback() [?/Callbacks]
playback_factory.record("current_status", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.current_status());
});
playback_factory.record("stop", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::playback>(inv[0]);
thiz.stop();
});
factory->record(playback_factory);
}
{
ClassFactory recorder_factory("rs2::recorder");
// rs2::recorder::constructor(rs2::device) [?]
recorder_factory.record("new#string_device", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto file = MatlabParamParser::parse<std::string>(inv[0]);
auto device = MatlabParamParser::parse<rs2::device>(inv[1]);
outv[0] = MatlabParamParser::wrap(rs2::recorder(file, device));
});
recorder_factory.record("pause", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::recorder>(inv[0]);
thiz.pause();
});
recorder_factory.record("resume", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::recorder>(inv[0]);
thiz.resume();
});
recorder_factory.record("filename", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::recorder>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.filename());
});
factory->record(recorder_factory);
}
// rs2_processing.hpp
// rs2::processing_block [?]
{
ClassFactory frame_queue_factory("rs2::frame_queue");
frame_queue_factory.record("new", 1, 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
if (inc == 0) {
outv[0] = MatlabParamParser::wrap(rs2::frame_queue());
}
else if (inc == 1) {
auto capacity = MatlabParamParser::parse<unsigned int>(inv[0]);
outv[0] = MatlabParamParser::wrap(rs2::frame_queue(capacity));
}
});
// rs2::frame_queue::enqueue(frame) [?]
frame_queue_factory.record("wait_for_frame", 1, 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame_queue>(inv[0]);
if (inc == 1) {
outv[0] = MatlabParamParser::wrap(thiz.wait_for_frame());
}
else if (inc == 2) {
auto timeout_ms = MatlabParamParser::parse<unsigned int>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.wait_for_frame(timeout_ms));
}
});
// rs2::frame_queue::poll_for_frame(T*) [TODO] [T = {frame, video_frame, points, depth_frame, disparity_frame, motion_frame, pose_frame, frameset}]
frame_queue_factory.record("capacity", 1, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::frame_queue>(inv[0]);
outv[0] = MatlabParamParser::wrap(thiz.capacity());
});
factory->record(frame_queue_factory);
}
// TODO: need to understand how to call matlab functions from within C++ before async things can be implemented.
// TODO: What to do about supports/get_info? Just attach to filter?
// processing_block API is completely async.
// {
// ClassFactory processing_block_factory("rs2::processing_block");
//
// factory->record(processing_block_factory);
// }
{
ClassFactory filter_factory("rs2::filter");
filter_factory.record("process", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::filter>(inv[0]);
auto frame = MatlabParamParser::parse<rs2::frame>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.process(frame));
});
factory->record(filter_factory);
}
{
ClassFactory pointcloud_factory("rs2::pointcloud");
pointcloud_factory.record("new", 1, 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
if (inc == 0) {
outv[0] = MatlabParamParser::wrap(rs2::pointcloud());
return;
}
auto stream = MatlabParamParser::parse<rs2_stream>(inv[0]);
if (inc == 1)
outv[0] = MatlabParamParser::wrap(rs2::pointcloud(stream));
else {
auto index = MatlabParamParser::parse<int>(inv[1]);
outv[0] = MatlabParamParser::wrap(rs2::pointcloud(stream, index));
}
});
pointcloud_factory.record("calculate", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::pointcloud>(inv[0]);
auto depth = MatlabParamParser::parse<rs2::frame>(inv[1]);
outv[0] = MatlabParamParser::wrap(thiz.calculate(depth));
});
pointcloud_factory.record("map_to", 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
{
auto thiz = MatlabParamParser::parse<rs2::pointcloud>(inv[0]);
auto mapped = MatlabParamParser::parse<rs2::frame>(inv[1]);
thiz.map_to(mapped);
});
factory->record(pointcloud_factory);
}
{
ClassFactory syncer_factory("rs2::syncer");
syncer_factory.record("new", 1, 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])