Update Matlab wrapper for processing_block refactor.

Note: Things that derive from processing_block but not filter are currently unsupported
kirkoman · Nov 28, 2018 · 7d57753 · 7d57753
1 parent bffc18e
commit 7d57753
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Showing 11 changed files with 33 additions and 24 deletions.
diff --git a/wrappers/matlab/align.m b/wrappers/matlab/align.m
@@ -1,12 +1,12 @@
 % Wraps librealsense2 align class
-classdef align < realsense.processing_block
+classdef align < realsense.filter
     methods
         % Constructor
         function this = align(align_to)
             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 = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/colorizer.m b/wrappers/matlab/colorizer.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 colorizer class
-classdef colorizer < realsense.processing_block
+classdef colorizer < realsense.filter
     methods
         % Constructor
         function this = colorizer(color_scheme)
@@ -9,7 +9,7 @@
                 validateattributes(color_scheme, {'numeric'}, {'scalar', 'nonnegative', 'real'});
                 out = realsense.librealsense_mex('rs2::colorizer', 'new', double(color_scheme));
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/decimation_filter.m b/wrappers/matlab/decimation_filter.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 decimation_filter class
-classdef decimation_filter < realsense.processing_block
+classdef decimation_filter < realsense.filter
     methods
         % Constructor
         function this = decimation_filter(magnitude)
@@ -9,7 +9,7 @@
                 validateattributes(magnitude, {'numeric'}, {'scalar', 'nonnegative', 'real'});
                 out = realsense.librealsense_mex('rs2::decimation_filter', 'new', double(magnitude));
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/disparity_transform.m b/wrappers/matlab/disparity_transform.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 disparity_transform class
-classdef disparity_transform < realsense.processing_block
+classdef disparity_transform < realsense.filter
     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.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/processing_block.m → wrappers/matlab/filter.m b/wrappers/matlab/processing_block.m → wrappers/matlab/filter.m
@@ -1,8 +1,8 @@
-% Wraps librealsense2 processing_block class
-classdef processing_block < realsense.options
+% Wraps librealsense2 filter class
+classdef filter < realsense.options
     methods
         % Constructor
-        function this = processing_block(handle)
+        function this = filter(handle)
             this = [email protected](handle);
         end
 
@@ -12,7 +12,7 @@
         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 = realsense.librealsense_mex('rs2::filter', 'process', this.objectHandle, frame.objectHandle);
             out_frame = realsense.frame(out);
         end
     end

diff --git a/wrappers/matlab/hole_filling_filter.m b/wrappers/matlab/hole_filling_filter.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 hole_filling_filter class
-classdef hole_filling_filter < realsense.processing_block
+classdef hole_filling_filter < realsense.filter
     methods
         % Constructor
         function this = hole_filling_filter(mode)
@@ -9,7 +9,7 @@
                 validateattributes(mode, {'numeric'}, {'scalar', 'real', 'integer'});
                 out = realsense.librealsense_mex('rs2::hole_filling_filter', 'new', int64(mode));
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/librealsense_mex.cpp b/wrappers/matlab/librealsense_mex.cpp
@@ -919,16 +919,22 @@ void make_factory(){
         });
         factory->record(frame_queue_factory);
     }
+// TODO: need to understand how to call matlab functions from within C++ before async things can be implemented.
+// processing_block API is completely async.
+//    {
+//        ClassFactory processing_block_factory("rs2::processing_block");
+//
+//        factory->record(processing_block_factory);
+//    }
     {
-        ClassFactory processing_block_factory("rs2::processing_block");
-        processing_block_factory.record("process", 1, 2, [](int outc, mxArray* outv[], int inc, const mxArray* inv[])
+        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));
         });
-        // TODO: expose more functions?
-        factory->record(processing_block_factory);
+        factory->record(filter_factory);
     }
     {
         ClassFactory pointcloud_factory("rs2::pointcloud");

diff --git a/wrappers/matlab/pointcloud.m b/wrappers/matlab/pointcloud.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 pointcloud class
-classdef pointcloud < realsense.processing_block
+classdef pointcloud < realsense.filter
     methods
         % Constructor
         function this = pointcloud(stream, index)
@@ -14,7 +14,7 @@
                     validateattributes(index, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'});
                     out = realsense.librealsense_mex('rs2::pointcloud', 'new', int64(stream), int64(index));
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/rs2_type_traits.h b/wrappers/matlab/rs2_type_traits.h
@@ -21,6 +21,9 @@ template<typename T> struct MatlabParamParser::type_traits<T, typename std::enab
 
 // rs_sensor.hpp
 template<> struct MatlabParamParser::type_traits<rs2::options> {
+    // since it is impossible to create an rs2::options object (you must cast from a deriving type)
+    // The carrier's job is to help jump bridge that gap. Each type that derives directly from rs2::options
+    // must be added to the carrier's logic
     struct carrier {
         void * ptr;
         enum class types { rs2_sensor, rs2_processing_block } type;

diff --git a/wrappers/matlab/spatial_filter.m b/wrappers/matlab/spatial_filter.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 spatial_filter class
-classdef spatial_filter < realsense.processing_block
+classdef spatial_filter < realsense.filter
     methods
         % Constructor
         function this = spatial_filter(smooth_alpha, smooth_delta, magnitude, hole_fill)
@@ -14,7 +14,7 @@
             else
                 % TODO: Error out on bad arg count
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)

diff --git a/wrappers/matlab/temporal_filter.m b/wrappers/matlab/temporal_filter.m
@@ -1,5 +1,5 @@
 % Wraps librealsense2 temporal_filter class
-classdef temporal_filter < realsense.processing_block
+classdef temporal_filter < realsense.filter
     methods
         % Constructor
         function this = temporal_filter(smooth_alpha, smooth_delta, persistence_control)
@@ -13,7 +13,7 @@
             else
                 % TODO: Error out on bad arg count
             end
-            this = this@realsense.processing_block(out);
+            this = this@realsense.filter(out);
         end
 
         % Destructor (uses base class destructor)