Quanser QBot 2 User Manual page 17

2.6.2 QBot 2 Kinect
The QBot 2 is integrated with a Microsoft Kinect sensor, which is capable of capturing RGB image data as well as
12-bit depth data at several resolutions and framerates. The Kinect sensor data is available through the
Multimedia blockset under QUARC Targets/Multimedia in the Simulink Library Browser. Table 2.5 shows the various
blocks used to interface with the Kinect and describes their purpose. Note: to use the
you will need to have the Microsoft Kinect SDK v1.8 and the Microsoft Kinect for Windows Developer Toolkit v1.8
installed on the host PC.
Block
QBOT 2 - User Manual
Description
The Kinect Initialize block is required to initialize the Kinect sensor and provide
a name for the Kinect that other blocks use to associate with that sensor.
The Kinect Video Capture block is used to capture RGB or greyscale images
from the Kinect sensor. You can specify the desired resolution as well as the
output format (RGB or greyscale). The Video Capture block outputs a boolean
new signal to indicate when a new frame is available so that it can be used to
trigger image processing only once per frame.
The Kinect Get Depth block is used to output a depth-mapped image at the
specified resolution. The Kinect can measure depth from 0.5 m to 6 m.
The Kinect Get Image block is used to acquire RGB or greyscale images from
the Kinect. The image sensor type can be specified as the color or infrared
image sensor. The image resolution can be selected as either 640 × 480 or
1280 × 960. The image frame number is output from the block and can be used
to trigger image processing when a new image is available.
The Display Image block is used to display image data on the host computer.
The Display Image block accepts greyscale and RGB image matrices as its
input. The Display Image block acts like a scope and is not synchronized
with the model; in other words, if the Display Image block cannot keep up with
the performance of the model it will not block the model thread(s). Since the
Display Image block requires the images to be transmitted between the target
and the host it is recommended that the images used for display purposes be
downsampled or sent at a slower rate.
Table 2.5: Kinect blocks
QUARC
QUARC Kinect blocks,
DRAFT - April 14, 2015