How can I use Intel Realsense Depth d435i in Simulink.

Hi, my name is Jirat. I want to use Intel Realsense Depth 435i for object detection and run it in Simulink. This device doesn't have any hardware support in Add-ins but it has developed code for use Realsense's product in Github. Initially, I was already successful in Matlab and I adapted that code for use in the Matlab function propose to run in Simulink. But the Simulink function couldn't be used because only Matlab files are supported for that code. So, does anyone know how to run Intel Realsense Depth 435i in Simulink?

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Github link

https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0

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This is simple code for in Matlab function trial .

function y = func1(x)

pipe = realsense.pipeline();

y = x;

end

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This is a warning.

Function call resolved to MEX file 'C:\Program Files (x86)\Intel RealSense SDK 2.0\matlab\+realsense\librealsense_mex.mexw64'. Only MATLAB files are supported for code generation. Consider using coder.extrinsic to declare MEX function as extrinsic. Function 'pipeline.m' (#48.283.333), line 10, column 37: "realsense.librealsense_mex('rs2::pipeline', 'new')" Launch diagnostic report.

Answer 1

[CyberRobotics]

I had a similar and overcame this issue and found a solution with

Intel Realsense Depth Camera D435 and using Simulink Real Time by instalation guide

for installing the Matlab Package

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/matlab

To overcome this issue you need to make a customade simulink block called with a help of S-function.

This issue can be solved by using a MATLAB S-Function

1. Under Simulink Library Browser select User-Defined Functions and drag Level-2 MATLAB S-Function
2. Open a new matlab script file and use the following documentation https://ch.mathworks.com/help/simulink/sfg/writing-level-2-matlab-s-functions.html

For a short toturial how Level-2 MATLAB S-Fuction look at this lecture

https://www.youtube.com/watch?v=ZnvRoGA23uU

Note that in the output function the calculation or comunication to the camera is made.

In the code only the first letter of the camera name is displayed.

Hope this solves the problem.