Merge pull request #1038 from lramati/matlab

Matlab Wrapper Inital PR

CMakeLists.txt

@@ -852,6 +852,7 @@ option(BUILD_EXAMPLES "Build realsense examples and tools." ON)
 option(ENFORCE_METADATA "Require WinSDK with Metadata support during compilation. Windows OS Only" OFF)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
 option(BUILD_CSHARP_BINDINGS "Build C# bindings" OFF)
+#option(BUILD_MATLAB_BINDINGS "Build Matlab bindings" OFF)
 option(BUILD_UNITY_BINDINGS "Copy the unity project to the build folder with the required dependencies" OFF)
 option(BUILD_CV_EXAMPLES "Build OpenCV examples" OFF)
 option(BUILD_PCL_EXAMPLES "Build PCL examples" OFF)
@@ -882,6 +883,10 @@ if (BUILD_WITH_CUDA)
     add_definitions(-DRS2_USE_CUDA)
 endif()
 
+if (BUILD_MATLAB_BINDINGS)
+  add_subdirectory(wrappers/matlab)
+endif()
+
 
 # Check for unreferenced files
 FILE(GLOB_RECURSE AllSources RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}

include/librealsense2/h/rs_context.h

@@ -108,7 +108,7 @@ void rs2_delete_device_hub(const rs2_device_hub* hub);
 * \param[out] error  If non-null, receives any error that occurs during this call, otherwise, errors are ignored.
 * \return            device object
 */
-rs2_device* rs2_device_hub_wait_for_device(rs2_context* ctx, const rs2_device_hub* hub, rs2_error** error);
+rs2_device* rs2_device_hub_wait_for_device(const rs2_device_hub* hub, rs2_error** error);
 
 /**
 * Checks if device is still connected

include/librealsense2/hpp/rs_context.hpp

@@ -207,13 +207,15 @@ namespace rs2
             rs2::error::handle(e);
         }
 
+        context(std::shared_ptr<rs2_context> ctx)
+            : _context(ctx)
+        {}
+        explicit operator std::shared_ptr<rs2_context>() { return _context; };
 protected:
         friend class rs2::pipeline;
         friend class rs2::device_hub;
 
-        context(std::shared_ptr<rs2_context> ctx)
-            : _context(ctx)
-        {}
+
         std::shared_ptr<rs2_context> _context;
     };
 
@@ -224,11 +226,10 @@ namespace rs2
     {
     public:
         explicit device_hub(context ctx)
-            : _ctx(std::move(ctx))
         {
             rs2_error* e = nullptr;
             _device_hub = std::shared_ptr<rs2_device_hub>(
-                rs2_create_device_hub(_ctx._context.get(), &e),
+                rs2_create_device_hub(ctx._context.get(), &e),
                 rs2_delete_device_hub);
             error::handle(e);
         }
@@ -241,7 +242,7 @@ namespace rs2
         {
             rs2_error* e = nullptr;
             std::shared_ptr<rs2_device> dev(
-                rs2_device_hub_wait_for_device(_ctx._context.get(), _device_hub.get(), &e),
+                rs2_device_hub_wait_for_device(_device_hub.get(), &e),
                 rs2_delete_device);
 
             error::handle(e);
@@ -262,8 +263,10 @@ namespace rs2
             return res > 0 ? true : false;
 
         }
+
+        explicit operator std::shared_ptr<rs2_device_hub>() { return _device_hub; }
+        explicit device_hub(std::shared_ptr<rs2_device_hub> hub) : _device_hub(std::move(hub)) {}
     private:
-        context _ctx;
         std::shared_ptr<rs2_device_hub> _device_hub;
     };
 

include/librealsense2/hpp/rs_device.hpp

@@ -134,16 +134,17 @@ namespace rs2
         virtual ~device()
         {
         }
+
+        explicit operator std::shared_ptr<rs2_device>() { return _dev; };
+        explicit device(std::shared_ptr<rs2_device> dev) : _dev(dev) {}
     protected:
         friend class rs2::context;
         friend class rs2::device_list;
         friend class rs2::pipeline_profile;
         friend class rs2::device_hub;
 
         std::shared_ptr<rs2_device> _dev;
-        explicit device(std::shared_ptr<rs2_device> dev) : _dev(dev)
-        {
-        }
+
     };
 
     class debug_protocol : public device
@@ -283,6 +284,8 @@ namespace rs2
             return _list.get();
         }
 
+        operator std::shared_ptr<rs2_device_list>() { return _list; };
+
     private:
         std::shared_ptr<rs2_device_list> _list;
     };

include/librealsense2/hpp/rs_frame.hpp

@@ -139,10 +139,6 @@ namespace rs2
         Operator implement, return the internal stream profile instance.
         * \return rs2_stream_profile* - internal instance to communicate with real implementation.
         */
-        operator const rs2_stream_profile*()
-        {
-            return _profile;
-        }
         /**
         * Get the extrinsic transformation between two profiles (representing physical sensors)
         * \param[in] stream_profile to - the stream profile (another sensor) to be based to return the extrinsic
@@ -169,12 +165,7 @@ namespace rs2
             error::handle(e);
         }
 
-    protected:
-        friend class rs2::sensor;
-        friend class rs2::frame;
-        friend class rs2::pipeline_profile;
-        friend class software_sensor;
-
+        bool is_cloned() { return bool(_clone); }
         explicit stream_profile(const rs2_stream_profile* profile) : _profile(profile)
         {
             rs2_error* e = nullptr;
@@ -185,6 +176,14 @@ namespace rs2
             error::handle(e);
 
         }
+        operator const rs2_stream_profile*() { return _profile; }
+        explicit operator std::shared_ptr<rs2_stream_profile>() { return _clone; }
+
+    protected:
+        friend class rs2::sensor;
+        friend class rs2::frame;
+        friend class rs2::pipeline_profile;
+        friend class software_sensor;
 
         const rs2_stream_profile* _profile;
         std::shared_ptr<rs2_stream_profile> _clone;
@@ -493,6 +492,7 @@ namespace rs2
         * \return  rs2_frame - internal frame handle.
         */
         rs2_frame* get() const { return frame_ref; }
+        explicit operator rs2_frame*() { return frame_ref; }
 
     protected:
         /**

include/librealsense2/hpp/rs_pipeline.hpp

@@ -102,12 +102,11 @@ namespace rs2
             return _pipeline_profile != nullptr;
         }
 
-    private:
+        explicit operator std::shared_ptr<rs2_pipeline_profile>() { return _pipeline_profile; }
         pipeline_profile(std::shared_ptr<rs2_pipeline_profile> profile) :
-            _pipeline_profile(profile)
-        {
-
-        }
+            _pipeline_profile(profile){}
+    private:
+
         std::shared_ptr<rs2_pipeline_profile> _pipeline_profile;
         friend class config;
         friend class pipeline;
@@ -316,12 +315,14 @@ namespace rs2
         {
             return _config;
         }
-    private:
-        config(std::shared_ptr<rs2_config> config) : _config(config)
+        explicit operator std::shared_ptr<rs2_config>() const
         {
+            return _config;
         }
-        std::shared_ptr<rs2_config> _config;
 
+        config(std::shared_ptr<rs2_config> config) : _config(config) {}
+    private:
+        std::shared_ptr<rs2_config> _config;
     };
 
     /**
@@ -343,7 +344,6 @@ namespace rs2
         * \param[in] ctx   The context allocated by the application. Using the platform context by default.
         */
         pipeline(context ctx = context())
-            : _ctx(ctx)
         {
             rs2_error* e = nullptr;
             _pipeline = std::shared_ptr<rs2_pipeline>(
@@ -509,9 +509,9 @@ namespace rs2
         {
             return _pipeline;
         }
+        explicit pipeline(std::shared_ptr<rs2_pipeline> ptr) : _pipeline(ptr) {}
 
     private:
-        context _ctx;
         std::shared_ptr<rs2_pipeline> _pipeline;
         friend class config;
     };

include/librealsense2/hpp/rs_sensor.hpp

@@ -9,6 +9,7 @@
 
 namespace rs2
 {
+
     class notification
     {
     public:
@@ -211,6 +212,8 @@ namespace rs2
             _options = other._options;
             return *this;
         }
+        // if operator= is ok, this should be ok too
+        options(const options& other) : _options(other._options) {}
 
         virtual ~options() = default;
    protected:
@@ -223,7 +226,7 @@ namespace rs2
            return *this;
        }
 
-       options(const options& other) : _options(other._options) {}
+
 
     private:
         rs2_options* _options;
@@ -411,6 +414,12 @@ namespace rs2
             return extension;
         }
 
+        explicit sensor(std::shared_ptr<rs2_sensor> dev)
+            :options((rs2_options*)dev.get()), _sensor(dev)
+        {
+        }
+        explicit operator std::shared_ptr<rs2_sensor>() { return _sensor; }
+
     protected:
         friend context;
         friend device_list;
@@ -420,10 +429,7 @@ namespace rs2
 
         std::shared_ptr<rs2_sensor> _sensor;
 
-        explicit sensor(std::shared_ptr<rs2_sensor> dev)
-            :options((rs2_options*)dev.get()),  _sensor(dev)
-        {
-        }
+
     };
 
     inline bool operator==(const sensor& lhs, const sensor& rhs)
@@ -495,6 +501,7 @@ namespace rs2
         }
 
         operator bool() const { return _sensor.get() != nullptr; }
+        explicit depth_sensor(std::shared_ptr<rs2_sensor> dev) : depth_sensor(sensor(dev)) {}
     };
 
     class depth_stereo_sensor : public depth_sensor

readme.md

@@ -9,7 +9,7 @@ Linux/MacOS | Windows |
 -----------------
 
 ## Overview
-**Intel® RealSense™ SDK 2.0** is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300). 
+**Intel® RealSense™ SDK 2.0** is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300).
 
 > :pushpin: For other Intel® RealSense™ devices (F200, R200, LR200 and ZR300), please refer to the [latest legacy release](https://github.com/IntelRealSense/librealsense/tree/v1.12.1).
 
@@ -37,7 +37,7 @@ Information about the Intel® RealSense™ technology at [realsense.intel.com](h
 | **[Depth Quality Tool](./tools/depth-quality)** | This application allows you to test the camera’s depth quality, including: standard deviation from plane fit, normalized RMS – the subpixel accuracy, distance accuracy and fill rate. You should be able to easily get and interpret several of the depth quality metrics and record and save the data for offline analysis. |[**Depth.Quality.Tool.exe**](https://github.com/IntelRealSense/librealsense/releases) |
 | **[Debug Tools](./tools/)** | Device enumeration, FW logger, etc as can be seen at the tools directory | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases)|
 | **[Code Samples](./examples)** |These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications. Check some of the [**C++ examples**](./examples) including capture, pointcloud and more and basic [**C examples**](./examples/C) | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases) |
-| **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)** | [Python](./wrappers/python), [C#/.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS](https://github.com/intel-ros/realsense/releases), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), and more to come, including Matlab and OpenNI. | |
+| **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)** | [Python](./wrappers/python), [C#/.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS](https://github.com/intel-ros/realsense/releases), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), [Matlab](./wrappers/matlab) and more to come, including OpenNI. | |
 
 
 ## Ready to Hack!
@@ -55,19 +55,19 @@ p.start();
 while (true)
 {
     // Block program until frames arrive
-    rs2::frameset frames = p.wait_for_frames(); 
-    
+    rs2::frameset frames = p.wait_for_frames();
+
     // Try to get a frame of a depth image
-    rs2::depth_frame depth = frames.get_depth_frame(); 
+    rs2::depth_frame depth = frames.get_depth_frame();
 
     // Get the depth frame's dimensions
     float width = depth.get_width();
     float height = depth.get_height();
-    
+
     // Query the distance from the camera to the object in the center of the image
     float dist_to_center = depth.get_distance(width / 2, height / 2);
-    
-    // Print the distance 
+
+    // Print the distance
     std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
 }
 ```
@@ -77,5 +77,5 @@ For more information on the library, please follow our [examples](./examples), a
 In order to contribute to Intel RealSense SDK, please follow our [contribution guidelines](CONTRIBUTING.md).
 
 ## License
-This project is licensed under the [Apache License, Version 2.0](LICENSE). 
+This project is licensed under the [Apache License, Version 2.0](LICENSE).
 Copyright 2017 Intel Corporation

src/device_hub.cpp

@@ -128,5 +128,10 @@ namespace librealsense
         std::unique_lock<std::mutex> lock(_mutex);
         return dev.is_valid();
     }
+
+    std::shared_ptr<librealsense::context> device_hub::get_context()
+    {
+        return _ctx;
+    }
 }
 

src/device_hub.h

@@ -41,6 +41,8 @@ namespace librealsense
         */
         bool is_connected(const device_interface& dev);
 
+        std::shared_ptr<librealsense::context> get_context();
+
         ~device_hub()
         {
             _ctx->stop();

src/rs.cpp

@@ -218,14 +218,13 @@ void rs2_delete_device_hub(const rs2_device_hub* hub) BEGIN_API_CALL
 }
 NOEXCEPT_RETURN(, hub)
 
-rs2_device* rs2_device_hub_wait_for_device(rs2_context* ctx, const rs2_device_hub* hub, rs2_error** error) BEGIN_API_CALL
+rs2_device* rs2_device_hub_wait_for_device(const rs2_device_hub* hub, rs2_error** error) BEGIN_API_CALL
 {
     VALIDATE_NOT_NULL(hub);
-    VALIDATE_NOT_NULL(ctx);
     auto dev = hub->hub->wait_for_device();
-    return new rs2_device{ ctx->ctx, std::make_shared<readonly_device_info>(dev), dev };
+    return new rs2_device{ hub->hub->get_context(), std::make_shared<readonly_device_info>(dev), dev };
 }
-HANDLE_EXCEPTIONS_AND_RETURN(nullptr, hub, ctx)
+HANDLE_EXCEPTIONS_AND_RETURN(nullptr, hub)
 
 int rs2_device_hub_is_device_connected(const rs2_device_hub* hub, const rs2_device* device, rs2_error** error) BEGIN_API_CALL
 {

wrappers/CMakeLists.txt

@@ -32,6 +32,10 @@ if (BUILD_CV_EXAMPLES)
   add_subdirectory(opencv)
 endif()
 
+if(BUILD_MATLAB_BINDINGS)
+    add_subdirectory(matlab)
+endif()
+
 if (BUILD_PCL_EXAMPLES)
   add_subdirectory(pcl)
 endif()
@@ -63,4 +67,3 @@ if(BUILD_CSHARP_BINDINGS)
     add_subdirectory(csharp)
 endif()
 
-