lots of work on matlab half of the wrapper

wrappers/matlab/camera_info.m

@@ -0,0 +1,15 @@
+classdef camera_info < int64
+    enumeration
+        name                            ( 0)
+        serial_number                   ( 1)
+        firmware_version                ( 2)
+        recommended_firmware_version    ( 3)
+        physical_port                   ( 4)
+        debug_op_code                   ( 5)
+        advanced_mode                   ( 6)
+        product_id                      ( 7)
+        camera_locked                   ( 8)
+        usb_type_descriptor             ( 9)
+        count                           (10)
+    end
+end

wrappers/matlab/depth_frame.m

@@ -9,8 +9,11 @@
         % Destructor (uses base class destructor)
 
         % Functions
-        function width = get_distance(this, x, y)
-            realsense.librealsense_mex('rs2::depth_frame', 'get_distance', this.objectHandle, int64(x), int64(y));
+        function distance = get_distance(this, x, y)
+            narginchk(3, 3);
+            validateattributes(x, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'}, '', 'x', 2);
+            validateattributes(y, {'numeric'}, {'scalar', 'nonnegative', 'real', 'integer'}, '', 'y', 2);
+            distance = realsense.librealsense_mex('rs2::depth_frame', 'get_distance', this.objectHandle, int64(x), int64(y));
         end
     end
 end

wrappers/matlab/depth_sensor.m

@@ -0,0 +1,16 @@
+% Wraps librealsense2 depth_sensor class
+classdef depth_sensor < sensor
+    methods
+        % Constructor
+        function this = depth_sensor(handle)
+           this = [email protected](handle);
+        end
+
+        % Destructor (uses base class destructor)
+
+        % Functions
+        function scale = get_depth_scale(this)
+            scale = realsense.librealsense_mex('rs2::depth_sensor', 'get_depth_scale', this.objectHandle);
+        end
+    emd
+end

wrappers/matlab/depth_stereo_sensor.m

@@ -0,0 +1,16 @@
+% Wraps librealsense2 depth_stereo_sensor class
+classdef depth_stereo_sensor < depth_sensor
+    methods
+        % Constructor
+        function this = depth_stereo_sensor(handle)
+           this = [email protected]_sensor(handle);
+        end
+
+        % Destructor (uses base class destructor)
+
+        % Functions
+        function scale = get_stereo_baseline(this)
+            scale = realsense.librealsense_mex('rs2::depth_stereo_sensor', 'get_stereo_baseline', this.objectHandle);
+        end
+    emd
+end

wrappers/matlab/device.m

@@ -15,11 +15,14 @@ function do_init(this)
     methods
         % Constructor
         function this = device(handle, index)
+            narginchk(1, 2);
+            validateattributes(handle, {'uint64'}, {'scalar'});
             this.objectHandle = handle;
             if (nargin == 1)  % constructed from device
                 this.id = -1;
             else % lazily "constructed" from device_list
-                this.id = index;
+                validateattributes(index, {'numeric'}, {'scalar', 'real', 'integer'});
+                this.id = int64(index);
             end
         end
         % Destructor
@@ -40,37 +43,48 @@ function delete(this)
             [sensor_array{1:nargout}] = arrayfun(@realsense.sensor, arr, 'UniformOutput', false);
         end
         function sensor = first(this, type)
+            narginchk(2, 2);
+            % C++ function validates contents of type
+            validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
             this.do_init();
             out = realsense.librealsense_mex('rs2::device', 'first', this.objectHandle, type);
-            switch (type)
-                case 'sensor'
-                    sensor = realsense.sensor(out);
-                case 'roi_sensor'
-                    sensor = realsense.roi_sensor(out);
-                case 'depth_sensor'
-                    sensor = realsense.depth_sensor(out);
-            end
+            sensor = realsense.sensor(out).as(type);
+        end
+        function value = supports(this, info)
+            narginchk(2, 2);
+            validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.camera_info.count}, '', 'info', 2);
+            this.do_init();
+            value = realsense.librealsense_mex('rs2::device', 'supports', this.objectHandle, int64(info));
+        end
+        function value = get_info(this, info)
+            narginchk(2, 2);
+            validateattributes(info, {'realsense.camera_info', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.camera_info.count}, '', 'info', 2);
+            this.do_init();
+            info = realsense.librealsense_mex('rs2::device', 'get_info', this.objectHandle, int64(info));
         end
-%        function value = supports(this, info)
-%            this.do_init();
-%            value = realsense.librealsense_mex('rs2::device', 'supports', this.objectHandle, info);
-%        end
-%        function info = get_info(this, info) % TODO: name output var
-%            this.do_init();
-%            info = realsense.librealsense_mex('rs2::device', 'get_info', this.objectHandle, info);
-%        end
         function hardware_reset(this)
             this.do_init();
             realsense.librealsense_mex('rs2::device', 'hardware_reset', this.objectHandle);
         end
         function value = is(this, type)
+            narginchk(2, 2);
+            % C++ function validates contents of type
+            validateattributes(type, {'char', 'string'}, {'scalartext'}, '', 'type', 2);
             this.do_init();
             out = realsense.librealsense_mex('rs2::device', 'is', this.objectHandle, type);
         end
 %        function dev = as(this, type)
-%            this.do_init();
-%            out = realsense.librealsense_mex('rs2::device', 'as', this.objectHandle, type);
-%            switch (type)
-%                case ''
+%            % validation and initialization done in is
+%            if ~this.is(type)
+%                error('cannot downcast dev to requested type');
+%            end
+%            switch type
+%                case 'debug_protocol'
+%                case 'advanced_mode'
+%                case 'recorder'
+%                    realsense.recorder(this)
+%                case 'playback'
+%            end
+%        end
     end
 end

wrappers/matlab/disparity_frame.m

@@ -0,0 +1,16 @@
+% Wraps librealsense2 disparity_frame class
+classdef disparity_frame < realsense.depth_frame
+    methods
+        % Constructor
+        function this = disparity_frame(handle)
+            this = [email protected]_frame(handle);
+        end
+
+        % Destructor (uses base class destructor)
+
+        % Functions
+        function baseline = get_baseline(this)
+            baseline = realsense.librealsense_mex('rs2::disparity_frame', 'get_baseline', this.objectHandle);
+        end
+    end
+end

wrappers/matlab/format.m

@@ -0,0 +1,25 @@
+classdef format < int64
+    enumeration
+        any             ( 0)
+        z16             ( 1)
+        disparity16     ( 2)
+        xyz32f          ( 3)
+        yuyv            ( 4)
+        rgb8            ( 5)
+        bgr8            ( 6)
+        rgba8           ( 7)
+        bgra8           ( 8)
+        y8              ( 9)
+        y16             (10)
+        raw10           (11)
+        raw16           (12)
+        raw8            (13)
+        uyvy            (14)
+        motion_raw      (15)
+        motion_xyz32f   (16)
+        gpio_raw        (17)
+        six_dof         (18)
+        disparity32     (19)
+        count           (20)
+    end
+end

wrappers/matlab/frame.m

@@ -6,9 +6,7 @@
     methods
         % Constructor
         function this = frame(handle)
-            if nargin == 0
-                handle = 0;
-            end
+            validateattributes(handle, {'uint64'}, {'scalar'});
             this.objectHandle = handle;
         end
         % Destructor
@@ -19,32 +17,36 @@ function delete(this)
         end
 
         % Functions
+        % TODO: keep
         function timestamp = get_timestamp(this)
             timestamp = realsense.librealsense_mex('rs2::frame', 'get_timestamp', this.objectHandle);
         end
         function domain = get_frame_timestamp_domain(this)
-            domain = realsense.frame_timestamp_domain(realsense.librealsense_mex('rs2::frame', 'get_frame_timestamp_domain', this.objectHandle));
+            ret = realsense.librealsense_mex('rs2::frame', 'get_frame_timestamp_domain', this.objectHandle);
+            domain = realsense.timestamp_domain(ret);
         end
         function metadata = get_frame_metadata(this, frame_metadata)
-            if (~isa(frame_metadata, 'frame_metadata'))
-                error('frame_metadata must be a frame_metadata');
-            end
-            metadata = realsense.librealsense_mex('rs2::frame', 'get_frame_metadata', this.objectHandle, uint64(frame_metadata));
+            narginchk(2, 2);
+            validateattributes(frame_metadata, {'realsense.frame_metadata_value', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.frame_metadata_value.count}, '', 'frame_metadata', 2);
+            metadata = realsense.librealsense_mex('rs2::frame', 'get_frame_metadata', this.objectHandle, int64(frame_metadata));
         end
         function value = supports_frame_metadata(this, frame_metadata)
-            if (~isa(frame_metadata, 'frame_metadata'))
-                error('frame_metadata must be a frame_metadata');
-            end
-            value = realsense.librealsense_mex('rs2::frame', 'supports_frame_metadata', this.objectHandle, uint64(frame_metadata));
+            narginchk(2, 2);
+            validateattributes(frame_metadata, {'realsense.frame_metadata_value', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.frame_metadata_value.count}, '', 'frame_metadata', 2);
+            value = realsense.librealsense_mex('rs2::frame', 'supports_frame_metadata', this.objectHandle, int64(frame_metadata));
         end
         function frame_number = get_frame_number(this)
-            timestamp = realsense.librealsense_mex('rs2::frame', 'get_frame_number', this.objectHandle);
+            frame_number = realsense.librealsense_mex('rs2::frame', 'get_frame_number', this.objectHandle);
         end
         function data = get_data(this)
             data = realsense.librealsense_mex('rs2::frame', 'get_data', this.objectHandle);
         end
         function profile = get_profile(this)
-            profile = realsense.stream_profile(realsense.librealsense_mex('rs2::frame', 'get_profile', this.objectHandle));
+            ret = realsense.librealsense_mex('rs2::frame', 'get_profile', this.objectHandle);
+            % TODO: stream_profile takes two args
+            profile = realsense.stream_profile(ret);
         end
+        % TODO: is [frame, video_frame, points, depth_frame, disparity_frame, motion_frame, pose_frame, frameset]
+        % TODO: as [frame, video_frame, points, depth_frame, disparity_frame, motion_frame, pose_frame, frameset]
     end
 end

wrappers/matlab/frame_metadata_value.m

@@ -1,13 +1,34 @@
-classdef frame_metadata_value < uint64
+classdef frame_metadata_value < int64
     enumeration
-        Frame_Counter       (0)
-        Frame_Timestamp     (1)
-        Sensor_Timestamp    (2)
-        Actual_Exposure     (3)
-        Gain_Level          (4)
-        Auto_Exposure       (5)
-        White_Balance       (6)
-        Time_Of_Arrival     (7)
-        Count               (8)
+        frame_counter                   ( 0)
+        frame_timestamp                 ( 1)
+        sensor_timestamp                ( 2)
+        actual_exposure                 ( 3)
+        gain_level                      ( 4)
+        auto_exposure                   ( 5)
+        white_balance                   ( 6)
+        time_of_arrival                 ( 7)
+        temperature                     ( 8)
+        backend_timestamp               ( 9)
+        actual_fps                      (10)
+        frame_laser_power               (11)
+        frame_laser_power_mode          (12)
+        exposure_priority               (13)
+        exposure_roi_left               (14)
+        exposure_roi_right              (15)
+        exposure_roi_top                (16)
+        exposure_roi_bottom             (17)
+        brightness                      (18)
+        contrast                        (19)
+        saturation                      (20)
+        sharpness                       (21)
+        auto_white_balance_temperature  (22)
+        backlight_compensation          (23)
+        hue                             (24)
+        gamma                           (25)
+        manual_white_balance            (26)
+        power_line_frequency            (27)
+        low_light_compensation          (28)
+        count                           (29)
     end
 end

wrappers/matlab/frameset.m

@@ -1,4 +1,4 @@
-% Wraps librealsense2 video_frame class
+% Wraps librealsense2 frameset class
 classdef frameset < realsense.frame
     methods
         % Constructor
@@ -10,25 +10,32 @@
 
         % Functions
         function frame = first_or_default(this, s)
-            if (~isa(s, 'stream'))
-                error('s must be a stream');
-            end
-            frame = realsense.frame(realsense.librealsense_mex('rs2::frameset', 'first_or_default', this.objectHandle, uint64_t(s)));
+            narginchk(2, 2);
+            validateattributes(s, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count}, '', 's', 2);
+            ret = realsense.librealsense_mex('rs2::frameset', 'first_or_default', this.objectHandle, int64_t(s));
+            frame = realsense.frame(ret);
         end
         function frame = first(this, s)
-            if (~isa(s, 'stream'))
-                error('s must be a stream');
-            end
-            frame = realsense.frame(realsense.librealsense_mex('rs2::frameset', 'first', this.objectHandle, uint64_t(s)));
+            narginchk(2, 2);
+            validateattributes(s, {'realsense.stream', 'numeric'}, {'scalar', 'nonnegative', 'real', 'integer', '<=', realsense.stream.count}, '', 's', 2);
+            ret = realsense.librealsense_mex('rs2::frameset', 'first', this.objectHandle, int64_t(s));
+            frame = realsense.frame(ret);
         end
         function depth_frame = get_depth_frame(this)
-            depth_frame = realsense.depth_frame(realsense.librealsense_mex('rs2::frameset', 'get_depth_frame', this.objectHandle));
+            ret = realsense.librealsense_mex('rs2::frameset', 'get_depth_frame', this.objectHandle);
+            depth_frame = realsense.depth_frame(ret);
         end
-        function video_frame = get_color_frame(this)
-            video_frame = realsense.video_frame(realsense.librealsense_mex('rs2::frameset', 'get_color_frame', this.objectHandle));
+        function color_frame = get_color_frame(this)
+            ret = realsense.librealsense_mex('rs2::frameset', 'get_color_frame', this.objectHandle);
+            color_frame = realsense.video_frame(ret);
         end
+        function infrared_frame = get_infrared_frame(this)
+            ret = realsense.librealsense_mex('rs2::frameset', 'get_infrared_frame', this.objectHandle);
+            infrared_frame = realsense.video_frame(ret);
+        enda
         function size = get_size(this)
             size = realsense.librealsense_mex('rs2::frameset', 'get_size', this.objectHandle);
         end
+        % TODO: iterator protocol?
     end
 end

wrappers/matlab/librealsense_mex.vcxproj

@@ -162,21 +162,33 @@
     <ClInclude Include="types.h" />
   </ItemGroup>
   <ItemGroup>
+    <None Include="camera_info.m" />
     <None Include="context.m" />
     <None Include="depth_frame.m" />
+    <None Include="depth_sensor.m" />
+    <None Include="depth_stereo_sensor.m" />
     <None Include="device.m" />
     <None Include="device_hub.m" />
+    <None Include="disparity_frame.m" />
     <None Include="example1.m" />
+    <None Include="format.m" />
     <None Include="frame.m" />
     <None Include="frameset.m" />
     <None Include="frame_metadata_value.m" />
+    <None Include="motion_frame.m" />
+    <None Include="motion_stream_profile.m" />
+    <None Include="option.m" />
+    <None Include="options.m" />
     <None Include="pipeline.m" />
+    <None Include="points.m" />
+    <None Include="pose_frame.m" />
     <None Include="roi_sensor.m" />
     <None Include="sensor.m" />
     <None Include="stream.m" />
     <None Include="stream_profile.m" />
     <None Include="timestamp_domain.m" />
     <None Include="video_frame.m" />
+    <None Include="video_stream_profile.m" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\..\build\realsense2.vcxproj">