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Configure MATLAB to Acquire Images from Vision Module

After you perform the initial configuration activities as described in Set Up IMAQ Adapter for matlab_kortex Driver, you can configure MATLAB® to acquire images from vision module of the Kinova® Gen3 robot.

  1. Register the adaptor library with MATLAB

    In the MATLAB command window, use the imaqregister command to register the adaptor from KINOVA Robotics with Image Acquisition Toolbox™. This step needs to be performed only once.

    • For the Windows® operating system, the library file is ‘kinova_vision_imaq.dll’ and it is located in the installation folder. For example, if the installation folder is ‘C:\Program Files\Kinova\Vision Imaq’ then the command to register the adaptor is:

      imaqregister('C:\Program Files\Kinova\Vision Imaq’);

    • For Linux® operating system, the library file is 'libkinova_vision_imaq.so' and it is available inside the downloaded folder.

  2. Verify the registration

    1. Reset the image acquisition hardware 

      imaqreset;

    2. Get information about the available image acquisition hardware 

      imaqhwinfo;

      If the adaptor is registered correctly, ‘kinova_vision_imaq’ is present under list of installed adaptors. If the adaptor is not listed under the installed adapters, then restart the MATLAB and continue with Step 3.

  3. Acquire image from cameras

    • Windows OS

      1. Create a video input object for RGB camera 

        vid1 = videoinput('kinova_vision_imaq', 1, 'RGB24');

      2. Set frames per trigger and get information about currently selected video source object 

        vid1.FramesPerTrigger = 1; 
src1 = getselectedsource(vid1);

      3. Change device properties 

        src1.CloseConnectionOnStop = 'Enabled';
src1.Ipv4Address = ‘192.168.1.10’;

      4. Preview the video object 

        preview(vid1);

      5. Close the preview and delete the video object 

        closepreview(vid1);
delete(vid1);

      6. Display the colorized depth video 

        vid2 = videoinput('kinova_vision_imaq', 2, 'MONO16'); 
vid2.FramesPerTrigger = 1; 
src2 = getselectedsource(vid2); 
src2.CloseConnectionOnStop = 'Enabled'; 
src2.Ipv4Address = '192.168.1.10'; 
im = preview(vid2); 
ax = im.Parent; 
im.CDataMapping = 'scaled'; 
colormap(ax, hot); 
ax.CLimMode = 'auto'; 
ax.CLim = [0 20]; 
closepreview(vid2); 
delete(vid2);

    • Linux OS

      • The only difference in the workflow for Linux operating system is the name of adaptor. For Linux, the adaptor name is libkinova_vision_imaq instead of kinova_vision_imaq for Windows.

      • Perform the remaining steps, which are same as mentioned under Windows operating system.