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325 lines
14 KiB
325 lines
14 KiB
classdef capture_example < matlab.apps.AppBase
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% Properties that correspond to app components
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properties (Access = public)
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UIFigure matlab.ui.Figure
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DepthAX matlab.ui.control.UIAxes
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ColorAX matlab.ui.control.UIAxes
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AccelAX matlab.ui.control.UIAxes
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AccelTextAX matlab.ui.control.UIAxes
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GyroAX matlab.ui.control.UIAxes
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GyroTextAX matlab.ui.control.UIAxes
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StartButton matlab.ui.control.Button
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StopButton matlab.ui.control.Button
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RsPipeLine realsense.pipeline
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RsColorizer realsense.colorizer
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end
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properties (Access = private, Hidden = true)
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tmr % Timer object
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SupportDepth % Support Depth Chanel
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SupportColor % Support Color Chanel
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SupportAccel % Support Accel Chanel
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SupportGyro % Support Gyro Chanel
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hD % Depth image handle
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hC % Color image handle
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hA % Accel handles
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% hA{1} - Circle Accel.x0y
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% hA{2} - Circle Accel.x0z
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% hA{3} - Circle Accel.y0z
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% hA{4} - Vect Accel.xyz
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% hA{5} - String Accel.x
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% hA{6} - String Accel.y
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% hA{7} - String Accel.z
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% hA{8} - String Accel.r
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hG % Gyro handles
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% hG{1} - Circle Gyro.x0y
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% hG{2} - Circle Gyro.x0z
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% hG{3} - Circle Gyro.y0z
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% hG{4} - Vect Gyro.xyz
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% hG{5} - String Gyro.x
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% hG{6} - String Gyro.y
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% hG{7} - String Gyro.z
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% hG{8} - String Gyro.r
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dV % Data vectors
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% dV{1} - ort line = - 1.15 .. 1.15
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% dV{2} - sin(t) , t = 0 .. 2 pi
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% dV{3} - cos(t)
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% dV{4} - zero = t ; zero(:) = 0;
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Period % double ( sec. )
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end
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methods (Access = private)
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function set_motion_data(app,h,d)
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x = d(1); y = d(2); z = d(3); R = sqrt(x^2+y^2+z^2);
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nx = x/R; ny = y/R; nz = z/R;
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zz = app.dV{4}; zz(:) = nz; rr = sqrt(nx^2+ny^2);
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xx = rr*app.dV{3}; yy = rr*app.dV{2};
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h{1}.XData = xx; h{1}.YData = yy; h{1}.ZData = zz;
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xx = app.dV{4}; xx(:) = nx; rr = sqrt(ny^2+nz^2);
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yy = rr*app.dV{3}; zz = rr*app.dV{2};
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h{3}.XData = xx; h{3}.YData = yy; h{3}.ZData = zz;
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yy = app.dV{4}; yy(:) = ny; rr = sqrt(nx^2+nz^2);
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xx = rr*app.dV{3}; zz = rr*app.dV{2};
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h{2}.XData = xx; h{2}.YData = yy; h{2}.ZData = zz;
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h{4}.XData = [0 nx];
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h{4}.YData = [0 ny];
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h{4}.ZData = [0 nz];
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h{5}.String = sprintf('x = %f',x);
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h{6}.String = sprintf('y = %f',y);
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h{7}.String = sprintf('z = %f',z);
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h{8}.String = sprintf('r = %f',R);
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end
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function h = draw_motion_data(app,ag,at,d,ss)
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colorG = [0.1 0.7 0.2];
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x = d(1); y = d(2); z = d(3); R = sqrt(x^2+y^2+z^2);
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nx = x/R; ny = y/R; nz = z/R;
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plot3(ag,app.dV{3},app.dV{2},app.dV{4},'LineStyle','-','Color','b','linewidth',1);
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hold(ag,'on');
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plot3(ag,app.dV{4},app.dV{3},app.dV{2},'LineStyle','-','Color','r','linewidth',1);
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plot3(ag,app.dV{3},app.dV{4},app.dV{2},'LineStyle','-','Color',colorG,'linewidth',1);
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zz = app.dV{4}; zz(:) = nz; rr = sqrt(nx^2+ny^2);
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xx = rr * app.dV{3}; yy = rr * app.dV{2};
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h{1}=plot3(ag,xx,yy,zz,'LineStyle','--','Color','b','linewidth',1);
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yy = app.dV{4}; yy(:) = ny; rr = sqrt(nx^2+nz^2);
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xx = rr * app.dV{3}; zz = rr * app.dV{2};
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h{2}=plot3(ag,xx,yy,zz,'LineStyle','--','Color',colorG,'linewidth',1);
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xx = app.dV{4}; xx(:) = nx; rr = sqrt(ny^2+nz^2);
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yy = rr * app.dV{3}; zz = rr * app.dV{2};
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h{3}=plot3(ag,xx,yy,zz,'LineStyle','--','Color','r','linewidth',1);
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xx(:) = 0; yy(:) = 0; zz = app.dV{1};
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plot3(ag,xx,yy,zz,'LineStyle','-','Color','b','linewidth',1);
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xx(:) = 0; yy(:) = app.dV{1}; zz(:) = 0;
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plot3(ag,xx,yy,zz,'LineStyle','-','Color',colorG,'linewidth',1);
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xx(:) = app.dV{1}; yy(:) = 0; zz(:) = 0;
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plot3(ag,xx,yy,zz,'LineStyle','-','Color','r','linewidth',1);
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h{4}=line(ag,[0 nx],[0 ny],[0 nz]); h{4}.Color = 'k';
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axis(ag,'off'); hold(ag,'off');
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text(at,0.3,0.8,ss,'Color',[0,0,0],'FontSize',14); hold(at,'on');
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s=sprintf('x = %f',x);
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h{5}=text(at,0.2,0.7,s,'Color','r','FontSize',12);
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s=sprintf('y = %f',y);
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h{6}=text(at,0.2,0.6,s,'Color',colorG,'FontSize',12);
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s=sprintf('z = %f',z);
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h{7}=text(at,0.2,0.5,s,'Color','b','FontSize',12);
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s=sprintf('r = %f',R);
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h{8}=text(at,0.2,0.4,s,'Color','k','FontSize',12);
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axis(at,'off'); hold(at,'off');
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end
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function tmProcess(app,~,~)
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RsFrameSet = app.RsPipeLine.wait_for_frames();
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if app.SupportDepth ~= 0
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df = RsFrameSet.get_depth_frame();
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dc = app.RsColorizer.colorize(df);
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dd = dc.get_data();
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app.hD.CData = permute(reshape(dd',[3,dc.get_width(),dc.get_height()]),[3 2 1]);
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end
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if app.SupportColor ~= 0
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cf = RsFrameSet.get_color_frame();
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dd = cf.get_data();
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app.hC.CData = permute(reshape(dd',[3,cf.get_width(),cf.get_height()]),[3 2 1]);
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end
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if app.SupportAccel ~= 0
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fa = RsFrameSet.first(realsense.stream.accel);
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ma = fa.as('motion_frame');
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d = ma.get_motion_data();
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app.set_motion_data(app.hA,d);
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end
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if app.SupportGyro ~= 0
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fg = RsFrameSet.first(realsense.stream.gyro);
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mg = fg.as('motion_frame');
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d = mg.get_motion_data();
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app.set_motion_data(app.hG,d);
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end
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drawnow;
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delete(RsFrameSet);
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end
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function onStartButton(app, ~)
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if strcmp(app.tmr.Running, 'off')
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app.RsPipeLine.start();
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start(app.tmr);
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end
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end
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function onStopButton(app,~)
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if strcmp(app.tmr.Running, 'on')
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stop(app.tmr);
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app.RsPipeLine.stop();
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end
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end
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function UIFigureCloseRequest(app,~)
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if strcmp(app.tmr.Running, 'on')
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stop(app.tmr);
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app.RsPipeLine.stop();
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end
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delete(app.tmr);
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delete(app.RsPipeLine);
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delete(app.RsColorizer);
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delete(app);
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end
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function StartUpFunc(app)
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RsCtx = realsense.context();
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Devs = RsCtx.query_devices();
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if ( numel(Devs) < 1 )
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error ( 'Not found RealSense device' );
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end
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RsDev = Devs{1};
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cn = RsDev.get_info(realsense.camera_info.name);
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delete(RsDev);
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delete(RsCtx);
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app.UIFigure.Name = sprintf('rs_capture_class < Camera : %s >',cn);
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app.RsPipeLine = realsense.pipeline();
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app.RsColorizer = realsense.colorizer();
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app.RsPipeLine.start();
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sProf = app.RsPipeLine.get_active_profile();
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Streams = sProf.get_streams();
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delete(sProf);
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kStreams = numel(Streams);
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app.SupportDepth=0;
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app.SupportColor=0;
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app.SupportAccel=0;
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app.SupportGyro=0;
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for i=1:kStreams
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Stream = Streams{i};
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StreamType = Stream.stream_type();
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if strcmp(StreamType, 'depth')
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app.SupportDepth = 1;
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end
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if strcmp(StreamType, 'color')
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app.SupportColor = 1;
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end
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if strcmp(StreamType, 'accel')
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app.SupportAccel = 1;
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end
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if strcmp(StreamType, 'gyro')
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app.SupportGyro = 1;
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end
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delete(Stream);
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end
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RsFrameSet = app.RsPipeLine.wait_for_frames();
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if app.SupportDepth ~=0
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df = RsFrameSet.get_depth_frame();
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dc = app.RsColorizer.colorize(df);
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dd = dc.get_data();
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d = permute(reshape(dd',[3,dc.get_width(),dc.get_height()]),[3 2 1]);
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app.hD = imshow(d,'Parent',app.DepthAX);
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else
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d = zeros(480,640,3,'uint8'); d(:)=240;
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app.hD = imshow(d,'Parent',app.DepthAX);
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hold(app.DepthAX,'on');
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text(app.DepthAX,140,220,'The <Depth> property is not supported','Color','k','FontSize',16);
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hold(app.DepthAX,'off');
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end
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if app.SupportColor ~= 0
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cf = RsFrameSet.get_color_frame();
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dd = cf.get_data();
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d = permute(reshape(dd',[3,cf.get_width(),cf.get_height()]),[3 2 1]);
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app.hC = imshow(d,'Parent',app.ColorAX);
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else
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d = zeros(480,640,3,'uint8'); d(:)=240;
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app.hC = imshow(d,'Parent',app.ColorAX);
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hold(app.ColorAX,'on');
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text(app.ColorAX,140,220,'The <Color> property is not supported','Color','k','FontSize',16);
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hold(app.ColorAX,'off');
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end
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if app.SupportAccel ~= 0
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fa = RsFrameSet.first(realsense.stream.accel);
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ma = fa.as('motion_frame');
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d = ma.get_motion_data();
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app.hA = app.draw_motion_data(app.AccelAX,app.AccelTextAX,d,'Accel');
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else
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d = [ -0.5, 0.5, sqrt(0.5) ];
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app.hA = app.draw_motion_data(app.AccelAX,app.AccelTextAX,d,'Accel');
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app.hA{5}.String='-------------';
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app.hA{6}.String='-------------';
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app.hA{7}.String='-------------';
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app.hA{8}.String='not supported';
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end
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if app.SupportGyro ~= 0
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fg = RsFrameSet.first(realsense.stream.gyro);
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mg = fg.as('motion_frame');
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d = mg.get_motion_data();
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app.hG = app.draw_motion_data(app.GyroAX,app.GyroTextAX,d,'Gyro');
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else
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d = [ 0.5, -0.5, sqrt(0.5) ];
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app.hG = app.draw_motion_data(app.GyroAX,app.GyroTextAX,d,'Gyro');
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app.hG{5}.String='-------------';
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app.hG{6}.String='-------------';
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app.hG{7}.String='-------------';
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app.hG{8}.String='not supported';
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end
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app.tmr = timer ...
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( ...
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'ExecutionMode', 'fixedRate', ... % 'fixedSpacing', ...
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'Period',app.Period, ...
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'BusyMode', 'queue',... % 'drop', ...
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'TimerFcn',@app.tmProcess ...
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);
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app.RsPipeLine.stop(); %--- STOP ---
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drawnow;
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delete(RsFrameSet);
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end
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function createComponents(app)
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tVect = 0:pi/60:2*pi;
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app.dV{1} = ((0:1/60:2)-1)*1.15;
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app.dV{2} = sin(tVect);
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app.dV{3} = cos(tVect);
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app.dV{4} = tVect; app.dV{4}(:) = 0;
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kFramePerSecond = 30; % Number of frames per second
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app.Period = double(int64(1000.0/kFramePerSecond+0.5))/1000.0;
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app.UIFigure = uifigure('Visible', 'off');
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app.UIFigure.Position = [20 20 1310 840];
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app.UIFigure.Name = '< Camera : ? >';
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app.UIFigure.CloseRequestFcn = createCallbackFcn(app,@UIFigureCloseRequest);
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setAutoResize(app,app.UIFigure,false);
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app.DepthAX = uiaxes(app.UIFigure);
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app.DepthAX.Position = [10 40 640 480];
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app.ColorAX = uiaxes(app.UIFigure);
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app.ColorAX.Position = [660 40 640 480];
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app.AccelAX = uiaxes(app.UIFigure);
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app.AccelAX.Position = [30 530 330 300];
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app.AccelTextAX = uiaxes(app.UIFigure);
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app.AccelTextAX.Position = [390 530 240 300];
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app.GyroAX = uiaxes(app.UIFigure);
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app.GyroAX.Position = [680 530 330 300];
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app.GyroTextAX = uiaxes(app.UIFigure);
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app.GyroTextAX.Position = [1040 530 240 300];
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app.StartButton = uibutton(app.UIFigure, 'push');
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app.StartButton.ButtonPushedFcn = createCallbackFcn(app, @onStartButton, true);
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app.StartButton.IconAlignment = 'center';
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app.StartButton.Position = [10 10 100 30];
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app.StartButton.Text = 'Start';
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app.StopButton = uibutton(app.UIFigure, 'push');
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app.StopButton.ButtonPushedFcn = createCallbackFcn(app, @onStopButton, true);
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app.StopButton.IconAlignment = 'center';
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app.StopButton.Position = [120 10 100 30];
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app.StopButton.Text = 'Stop';
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app.UIFigure.Visible = 'on';
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drawnow;
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end
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end
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methods (Access = public)
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function app = capture_example
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createComponents(app)
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registerApp(app, app.UIFigure)
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runStartupFcn(app,@StartUpFunc);
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if nargout == 0
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clear app
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end
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end
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function delete(app)
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delete(app.UIFigure)
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end
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end
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end
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