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阿维（Avi）的一周选择是硬件支持包金宝app对于Windows运行时Kinect的图像采集工具箱金宝app支持包， 经过The Image Acquisition Toolbox Team。使您能够acqu硬件支持包金宝appire RGB, depth images, and 3-D point clouds from a Kinect v2 sensor. If you have a Kinect for Windows v2 you can start using it in MATLAB by downloading the hardware support package from File Exchange.

在MATLAB中使用Kinect进行Windows V2

Sucsesfuly安装了硬件支持软件包后，您可以通过定义iMaq.videDodeVice S金宝appystem对象连接到设备。请记住Kinect V2返回RGB和深度图像，因此我们为每个图像创建一个系统对象

colordevice = imaq.videodevice（'kinect'，，，，1) depthDevice = imaq.VideoDevice('kinect'，，，，2)

colorDevice = imaq.VideoDevice with properties: Device: 'Kinect V2 Color Sensor (kinect-1)' VideoFormat: 'BGR_1920x1080' ROI: [1 1 1920 1080] ReturnedColorSpace: 'rgb' ReturnedDataType: 'uint8' DeviceProperties: [1x1 imaq.internal.DeviceProperties] depthDevice = imaq.VideoDevice with properties: Device: 'Kinect V2 Depth Sensor (kinect-2)' VideoFormat: 'Depth_512x424' ROI: [1 1 512 424] ReturnedColorSpace: 'grayscale' ReturnedDataType: 'uint16' DeviceProperties: [1x1 imaq.internal.DeviceProperties]

初始化设备

Now lets initialize the device and grab an input RGB image and a depth image.

步骤（Colordevice）；％初始化颜色/RGB传感器step(depthDevice);％初始化深度传感器colyImage = step（colordevice）;％加载一种颜色/RGB框架depthimage = step（depthdevice）;% Load one depth frame

从设备获取3-D点云

由于传感器具有颜色和深度信息，因此您可以将两个传感器的信息组合在一起，以创建一个3-D点云。

ptcloud = pcfromkinect（Depthdevice，Depthimage，Lolilimage）;

从Kinect V2查看点云流

让我们初始化PCPLAYER，使我们可以可视化3-D点云的实时流。我们首先初始化玩家。

player = pcplayer（ptcloud.xlimits，ptcloud.ylimits，ptcloud.zlimits，...'VerticalAxis'，，，，'y'，，，，'垂直线索'，，，，'down'）；xlabel(player.Axes,'X (m)'）；ylabel（player.axes，'Y (m)'）；zlabel(player.Axes,'z（m）'）；% Then stream a live 3-D point cloud from the Kinect v2.为了i = 1：500 colorimage = step（colordevice）;depthimage = step（depthdevice）;ptcloud = pcfromkinect（Depthdevice，Depthimage，Lolilimage）;查看（播放器，ptcloud）;结尾

检测3-D点云中的平面

Once we have aquired a 3-D point cloud from the Kinect v2 we can process it using functionality in the Computer Vision System Toolbox. Here I simply extract and display planes in the 3-D point cloud.

colyImage = step（colordevice）;depthimage = step（depthdevice）;ptcloud = pcfromkinect（Depthdevice，Depthimage，Lolilimage）;％抓住新的点云maxDistance = 0.02; referenceVector = [0,0,1]; maxAngularDistance = 5; [model,inlierIndices,outlierIndices] = pcfitplane(ptCloud,maxDistance,referenceVector,maxAngularDistance); figure; pcshow(ptCloud); holdon;图（模型）

释放设备

当你们都是时，不要忘记释放设备。

release(colorDevice); release(depthDevice);

与Matlab®R2016A一起出版