Edit matlab wrapper to reflect processing_block api refactoring

wrappers/matlab/align.m

@@ -1,5 +1,5 @@
 % Wraps librealsense2 align class
-classdef align < handle
+classdef align < librealsense.processing_block
     properties (SetAccess = private, Hidden = true)
         objectHandle;
     end
@@ -9,14 +9,10 @@
             narginchk(1, 1);
             validateattributes(align_to, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count});
             this.objectHandle = realsense.librealsense_mex('rs2::align', 'new', int64(align_to));
+            this = [email protected]_block(out);
         end
 
-        % Destructor
-        function delete(this)
-            if (this.objectHandle ~= 0)
-                realsense.librealsense_mex('rs2::align', 'delete', this.objectHandle);
-            end
-        end
+        % Destructor (uses base class destructor)
 
         % Functions
         function frames = process(this, frame)

wrappers/matlab/colorizer.m

@@ -1,10 +1,15 @@
 % Wraps librealsense2 colorizer class
-classdef colorizer < realsense.options
+classdef colorizer < realsense.processing_block
     methods
         % Constructor
-        function this = colorizer()
-            out = realsense.librealsense_mex('rs2::colorizer', 'new');
-            this = [email protected](out);
+        function this = colorizer(color_scheme)
+            if (nargin == 0)
+                out = realsense.librealsense_mex('rs2::colorizer', 'new');
+            else
+                validateattributes(color_scheme, {'numeric'}, {'scalar', 'nonnegative', 'real'});
+                out = realsense.librealsense_mex('rs2::colorizer', 'new', double(color_scheme));
+            end
+            this = [email protected]_block(out);
         end
 
         % Destructor (uses base class destructor)

wrappers/matlab/decimation_filter.m

@@ -1,10 +1,15 @@
 % Wraps librealsense2 decimation_filter class
-classdef decimation_filter < realsense.process_interface
+classdef decimation_filter < realsense.processing_block
     methods
         % Constructor
-        function this = decimation_filter()
-            out = realsense.librealsense_mex('rs2::decimation_filter', 'new');
-            this = [email protected]_interface(out);
+        function this = decimation_filter(magnitude)
+            if (nargin == 0)
+                out = realsense.librealsense_mex('rs2::decimation_filter', 'new');
+            else
+                validateattributes(magnitude, {'numeric'}, {'scalar', 'nonnegative', 'real'});
+                out = realsense.librealsense_mex('rs2::decimation_filter', 'new', double(magnitude));
+            end
+            this = [email protected]_block(out);
         end
 
         % Destructor (uses base class destructor)

wrappers/matlab/disparity_transform.m

@@ -1,5 +1,5 @@
 % Wraps librealsense2 disparity_transform class
-classdef disparity_transform < realsense.process_interface
+classdef disparity_transform < realsense.processing_block
     methods
         % Constructor
         function this = disparity_transform(transform_to_disparity)
@@ -9,7 +9,7 @@
                 validateattributes(transform_to_disparity, {'logical', 'numeric'}, {'scalar', 'real'});
                 out = realsense.librealsense_mex('rs2::disparity_transform', 'new', logical(transform_to_disparity));
             end
-            this = this@realsense.process_interface(out);
+            this = this@realsense.processing_block(out);
         end
 
         % Destructor (uses base class destructor)

wrappers/matlab/hole_filling_filter.m

@@ -1,10 +1,15 @@
 % Wraps librealsense2 hole_filling_filter class
-classdef hole_filling_filter < realsense.process_interface
+classdef hole_filling_filter < realsense.processing_block
     methods
         % Constructor
-        function this = hole_filling_filter()
-            out = realsense.librealsense_mex('rs2::hole_filling_filter', 'new');
-            this = [email protected]_interface(out);
+        function this = hole_filling_filter(mode)
+            if (nargin == 0)
+                out = realsense.librealsense_mex('rs2::hole_filling_filter', 'new');
+            else
+                validateattributes(mode, {'numeric'}, {'scalar', 'real', 'integer'});
+                out = realsense.librealsense_mex('rs2::hole_filling_filter', 'new', int64(mode));
+            end
+            this = [email protected]_block(out);
         end
 
         % Destructor (uses base class destructor)

wrappers/matlab/librealsense_mex.cpp

@@ -919,11 +919,32 @@ void make_factory(){
         });
         factory->record(frame_queue_factory);
     }
+    {
+        ClassFactory processing_block_factory("rs2::processing_block");
+        processing_block_factory.record("process", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        {
+            auto thiz = MatlabParamParser::parse<rs2::processing_block>(inv[0]);
+            auto frame = MatlabParamParser::parse<rs2::frame>(inv[1]);
+            outv[0] = MatlabParamParser::wrap(thiz.process(frame));
+        });
+        // TODO: expose more functions?
+        factory->record(processing_block_factory);
+    }
     {
         ClassFactory pointcloud_factory("rs2::pointcloud");
-        pointcloud_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        pointcloud_factory.record("new", 1, 0, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
-            outv[0] = MatlabParamParser::wrap(rs2::pointcloud());
+            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[])
         {
@@ -976,10 +997,7 @@ void make_factory(){
             auto align_to = MatlabParamParser::parse<rs2_stream>(inv[0]);
             outv[0] = MatlabParamParser::wrap(rs2::align(align_to));
         });
-        align_factory.record("delete", 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
-        {
-            MatlabParamParser::destroy<rs2::align>(inv[0]);
-        });
+        // TODO: how does this interact with the processing_block variant? Why are the separate?
         align_factory.record("process", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
             auto thiz = MatlabParamParser::parse<rs2::align>(inv[0]);
@@ -990,9 +1008,13 @@ void make_factory(){
     }
     {
         ClassFactory colorizer_factory("rs2::colorizer");
-        colorizer_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        colorizer_factory.record("new", 1, 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
-            outv[0] = MatlabParamParser::wrap(rs2::colorizer());
+            if (inc == 0) outv[0] = MatlabParamParser::wrap(rs2::colorizer());
+            else {
+                auto color_scheme = MatlabParamParser::parse<float>(inv[0]);
+                outv[0] = MatlabParamParser::wrap(rs2::colorizer(color_scheme));
+            }
         });
         colorizer_factory.record("colorize", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
@@ -1002,38 +1024,46 @@ void make_factory(){
         });
         factory->record(colorizer_factory);
     }
-    {
-        ClassFactory process_interface_factory("rs2::process_interface");
-        process_interface_factory.record("process", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
-        {
-            // TODO: will this work?
-            auto *thiz = MatlabParamParser::parse<rs2::process_interface*>(inv[0]);
-            auto frame = MatlabParamParser::parse<rs2::frame>(inv[1]);
-            outv[0] = MatlabParamParser::wrap(thiz->process(frame));
-        });
-        factory->record(process_interface_factory);
-    }
     {
         ClassFactory decimation_filter_factory("rs2::decimation_filter");
-        decimation_filter_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        decimation_filter_factory.record("new", 1, 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
-            outv[0] = MatlabParamParser::wrap(rs2::decimation_filter());
+            if (inc == 0) outv[0] = MatlabParamParser::wrap(rs2::decimation_filter());
+            else {
+                auto magnitude = MatlabParamParser::parse<float>(inv[0]);
+                outv[0] = MatlabParamParser::wrap(rs2::decimation_filter(magnitude));
+            }
         });
         factory->record(decimation_filter_factory);
     }
     {
         ClassFactory temporal_filter_factory("rs2::temporal_filter");
-        temporal_filter_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        temporal_filter_factory.record("new", 1, 0, 3, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
-            outv[0] = MatlabParamParser::wrap(rs2::temporal_filter());
+            if (inc == 0) outv[0] = MatlabParamParser::wrap(rs2::temporal_filter());
+            else if (inc == 3) {
+                auto smooth_alpha = MatlabParamParser::parse<float>(inv[0]);
+                auto smooth_delta = MatlabParamParser::parse<float>(inv[1]);
+                auto persistence_control = MatlabParamParser::parse<int>(inv[2]);
+                outv[0] = MatlabParamParser::wrap(rs2::temporal_filter(smooth_alpha, smooth_delta, persistence_control));
+            }
+            else mexErrMsgTxt("rs2::temporal_filter::new: Wrong number of Inputs");
         });
         factory->record(temporal_filter_factory);
     }
     {
         ClassFactory spatial_filter_factory("rs2::spatial_filter");
-        spatial_filter_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
-        {
-            outv[0] = MatlabParamParser::wrap(rs2::spatial_filter());
+        spatial_filter_factory.record("new", 1, 0, 4, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        {
+            if (inc == 0) outv[0] = MatlabParamParser::wrap(rs2::spatial_filter());
+            else if (inc == 4) {
+                auto smooth_alpha = MatlabParamParser::parse<float>(inv[0]);
+                auto smooth_delta = MatlabParamParser::parse<float>(inv[1]);
+                auto magnitude = MatlabParamParser::parse<float>(inv[2]);
+                auto hole_fill = MatlabParamParser::parse<float>(inv[3]);
+                outv[0] = MatlabParamParser::wrap(rs2::spatial_filter(smooth_alpha, smooth_delta, magnitude, hole_fill));
+            }
+            else mexErrMsgTxt("rs2::spatial_filter::new: Wrong number of Inputs");
         });
         factory->record(spatial_filter_factory);
     }
@@ -1053,9 +1083,13 @@ void make_factory(){
     }
     {
         ClassFactory hole_filling_filter_factory("rs2::hole_filling_filter");
-        hole_filling_filter_factory.record("new", 1, 0, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        hole_filling_filter_factory.record("new", 1, 0, 1, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
         {
-            outv[0] = MatlabParamParser::wrap(rs2::hole_filling_filter());
+            if (inc == 0) outv[0] = MatlabParamParser::wrap(rs2::hole_filling_filter());
+            else {
+                auto mode = MatlabParamParser::parse<int>(inv[0]);
+                outv[0] = MatlabParamParser::wrap(rs2::hole_filling_filter(mode));
+            }
         });
         factory->record(hole_filling_filter_factory);
     }

wrappers/matlab/librealsense_mex.vcxproj

@@ -203,7 +203,7 @@
     <None Include="pointcloud.m" />
     <None Include="points.m" />
     <None Include="pose_frame.m" />
-    <None Include="process_interface.m" />
+    <None Include="processing_block.m" />
     <None Include="recorder.m" />
     <None Include="roi_sensor.m" />
     <None Include="rosbag_example.m" />

wrappers/matlab/librealsense_mex.vcxproj.filters

@@ -148,9 +148,6 @@
     <None Include="syncer.m">
       <Filter>Matlab Files\Classes</Filter>
     </None>
-    <None Include="process_interface.m">
-      <Filter>Matlab Files\Classes</Filter>
-    </None>
     <None Include="colorizer.m">
       <Filter>Matlab Files\Classes</Filter>
     </None>
@@ -181,5 +178,8 @@
     <None Include="rosbag_example.m">
       <Filter>Matlab Files\Examples</Filter>
     </None>
+    <None Include="processing_block.m">
+      <Filter>Matlab Files\Classes</Filter>
+    </None>
   </ItemGroup>
 </Project>

wrappers/matlab/pointcloud.m

@@ -1,10 +1,20 @@
 % Wraps librealsense2 pointcloud class
-classdef pointcloud < realsense.options
+classdef pointcloud < realsense.processing_block
     methods
         % Constructor
-        function this = pointcloud()
-            out = realsense.librealsense_mex('rs2::pointcloud', 'new');
-            this = [email protected](out);
+        function this = pointcloud(stream, index)
+            switch nargin
+                case 0
+                    out = realsense.librealsense_mex('rs2::pointcloud', 'new');
+                case 1
+                    validateattributes(stream, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count});
+                    out = realsense.librealsense_mex('rs2::pointcloud', 'new', int64(stream));
+                case 2
+                    validateattributes(stream, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count});
+                    validateattributes(index, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'});
+                    out = realsense.librealsense_mex('rs2::pointcloud', 'new', int64(stream), int64(index));
+            end
+            this = [email protected]_block(out);
         end
 
         % Destructor (uses base class destructor)

wrappers/matlab/processing_block.m

@@ -0,0 +1,19 @@
+% Wraps librealsense2 processing_block class
+classdef processing_block < realsense.options
+    methods
+        % Constructor
+        function this = processing_block(handle)
+            this = [email protected](handle);
+        end
+
+        % Destructor (uses base class destructor)
+
+        % Functions
+        function out_frame = process(this, frame)
+            narginchk(2, 2)
+            validateattributes(frame, {'realsense.frame'}, {'scalar'}, '', 'frame', 2);
+            out = realsense.librealsense_mex('rs2::processing_block', 'process', this.objectHandle, frame.objectHandle);
+            out_frame = realsense.frame(out);
+        end
+    end
+end