monoCamera codegen error: Handle Classes in top-level outputs are not supported in MATLAB Coder

9 views (last 30 days)
li chen
li chen on 11 Nov 2020
Commented: li chen on 16 Nov 2020
monoCamera is defined in and have codegen capability. I try to generate the C++ object with code below:
function sensor = gen_camera(focalLength, principalPoint,imageSize, height,pitch,roll) %#codegen
intrinsics = cameraIntrinsics(focalLength,principalPoint,imageSize);
sensor = monoCamera(intrinsics, height, 'Pitch', pitch, 'Roll', roll);
and codegen reports error:
cfg = coder.config('lib');
cfg.HardwareImplementation.ProdHWDeviceType = 'Intel->x86-64 (Linux 64)';
cfg.TargetLang = "C++";
cfg.CppNamespace = 'camera';
cfg.CppNamespaceForMathworksCode = 'MatlabCV';
cfg.HeaderGuardStyle = "UsePragmaOnce";
cfg.PostCodeGenCommand = 'packNGo(buildInfo)';
>> codegen -config cfg -report -o cameraVision gen_camera -args {focalLength, principalPoint,imageSize, height,pitch,roll}
??? Handle Classes in top-level outputs are not supported in MATLAB Coder. Output parameter 'sensor'
contains a handle class.
Anyway to solve this issue?

Answers (1)

Aghamarsh Varanasi
Aghamarsh Varanasi on 13 Nov 2020
Edited: Aghamarsh Varanasi on 13 Nov 2020
Hi Li Chen,
‘sensor' is a Handle class object of the class ‘monoCamera’. A handle class object cannot be an entry-point (top level) function input or output.
Refer this documentation page to declare a MATLAB class that supports codegen.
If the purpose of ‘sensor’ handle class object is just to pass data from one function to another, you could instead convert ‘sensor’ to a structure and pass it as an output argument to the function ‘gen_camera’.
sensor = struct(sensor);
You can add this line at the end of your fucntion gen_camera’.
  1 Comment
li chen
li chen on 16 Nov 2020
After adding this line, I got error:
???Struct with one argument is not supported for code generation.
I'm using Matlab R2020b

Sign in to comment.

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!