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You can generate C/C++ code in MATLAB® from your system that contains System objects by using the MATLAB Coder™ product. Using this product, you can generate efficient and compact code for deployment in desktop and embedded systems and accelerate fixed-point algorithms. You do not need the MATLAB Coder product to generate code in Simulink®.
Note: Most, but not all, System objects support code generation. Refer to the particular object's reference page for information.
function ex_system_codegen % Find corresponding interest points between a pair of images using local % neighborhoods. % Declare System objects as persistent. persistent cornerDetector colorSpaceConverter % Initialize persistent System objects only once % Do this with 'if isempty(persistent variable).' % This condition will be false after the first time. if isempty(cornerDetector) % Create system objects. Pass property value arguments as constructor % arguments. Property values must be constants during compile time. cornerDetector = vision.CornerDetector('Method',... 'Harris corner detection (Harris & Stephens)'); colorSpaceConverter = vision.ColorSpaceConverter('Conversion',... 'RGB to intensity'); end % Declare functions called into MATLAB that do not generate % code as extrinsic. coder.extrinsic('imread'); % The output of an extrinsic function is an mxArray - also called a MATLAB % array. To use mxArrays returned by extrinsic functions, assign the % mxArray to a variable whose type and size is defined. imgLeft = zeros([300 400 3],'uint8'); imgRight = zeros([300 400 3],'uint8'); % Call extrinsic function imgLeft = imread('viprectification_deskLeft.png'); imgRight = imread('viprectification_deskRight.png'); % Convert RGB to grayscale I1 = step(colorSpaceConverter,imgLeft); I2 = step(colorSpaceConverter,imgRight); % Find corners points1 = step(cornerDetector, I1); points2 = step(cornerDetector, I2); % Extract neighborhood features [features1, valid_points1] = extractFeatures(I1, points1); [features2, valid_points2] = extractFeatures(I2, points2); % Match features index_pairs = matchFeatures(features1, features2); % Retrieve locations of corresponding points for each image matched_points1 = valid_points1(index_pairs(:, 1), :); matched_points2 = valid_points2(index_pairs(:, 2), :); % Visualize corresponding points coder.extrinsic('showMatchedFeatures') figure; showMatchedFeatures(I1, I2, matched_points1, matched_points2);
For another detailed code generation example, see Generate Code for MATLAB Handle Classes and System Objects in the MATLAB Coder product documentation.
The following usage rules and limitations apply to using System objects in code generated from MATLAB.
Object Construction and Initialization
If objects are stored in persistent variables, initialize System objects once by embedding the object handles in an if statement with a call to isempty( ).
Set arguments to System object™ constructors as compile-time constants.
You cannot initialize System objects properties with other MATLAB class objects as default values in code generation. You must initialize these properties in the constructor.
Inputs and Outputs
The data type of the inputs should not change.
If you want the size of inputs to change, verify that variable-size is enabled. Code generation support for variable-size data also requires that the Enable variable sizing option is enabled, which is the default in MATLAB.
Note: Variable-size properties in MATLAB Function block in Simulink are not supported. System objects predefined in the software do not support variable-size if their data exceeds the DynamicMemoryAllocationThreshold value.
Do not set System objects to become outputs from the MATLAB Function block.
Do not use the Save and Restore Simulation State as SimState option for any System object in a MATLAB Function block.
Do not pass a System object as an example input argument to a function being compiled with codegen.
Do not pass a System object to functions declared as extrinsic (functions called in interpreted mode) using the coder.extrinsic function. System objects returned from extrinsic functions and scope System objects that automatically become extrinsic can be used as inputs to another extrinsic function, but do not generate code.
Tunable and Nontunable Properties
The value assigned to a nontunable property must be a constant and there can be at most one assignment to that property (including the assignment in the constructor).
For most System objects, the only time you can set their nontunable properties during code generation is when you construct the objects.
For System objects that are predefined in the software, you can set their tunable properties at construction time or using dot notation after the object is locked.
For System objects that you define, you can change their tunable properties at construction time or using dot notation during code generation.
Objects cannot be used as default values for properties.
In MATLAB simulations, default values are shared across all instances of an object. Two instances of a class can access the same default value if that property has not been overwritten by either instance.
Cell Arrays and Global Variables
Do not use cell arrays.
Global variables are not supported. To avoid syncing global variables between a MEX file and the workspace, use a coder configuration object. For example:
f = coder.MEXConfig; f.GlobalSyncMethod='NoSync'
Then, include '-config f' in your codegen command.
Methods Supported for Code Generation
Code generation support is available only for these System object methods:
isDone (for sources only)
set (for tunable properties)
You can include System objects in MATLAB code in the same way you include any other elements. You can then compile a MEX file from your MATLAB code by using the codegen command, which is available if you have a MATLAB Coder license. This compilation process, which involves a number of optimizations, is useful for accelerating simulations. See Getting Started with MATLAB Coder and MATLAB Classes for more information.
Using the MATLAB Function block, you can include any System object and any MATLAB language function in a Simulink model. This model can then generate embeddable code. System objects provide higher-level algorithms for code generation than do most associated blocks. For more information, see What Is a MATLAB Function Block? in the Simulink documentation.
Using the MATLAB System block, you can include in a Simulink model individual System objects that you create with a class definition file . The model can then generate embeddable code. For more information, see What Is the MATLAB System Block? in the Simulink documentation.