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/*
* Copyright (C) 2014 Jeremy Laviole, Samuel Audet
*
* Licensed either under the Apache License, Version 2.0, or (at your option)
* under the terms of the GNU General Public License as published by
* the Free Software Foundation (subject to the "Classpath" exception),
* either version 2, or any later version (collectively, the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/
* http://www.gnu.org/software/classpath/license.html
*
* or as provided in the LICENSE.txt file that accompanied this code.
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.bytedeco.javacv;
import java.io.File;
import java.nio.ByteOrder;
import org.bytedeco.javacpp.BytePointer;
import org.bytedeco.javacpp.Loader;
import org.bytedeco.javacpp.Pointer;
import org.bytedeco.libfreenect2.*;
import org.bytedeco.opencv.opencv_core.*;
import org.bytedeco.opencv.opencv_imgproc.*;
import static org.bytedeco.libfreenect2.global.freenect2.*;
import static org.bytedeco.opencv.global.opencv_core.*;
import static org.bytedeco.opencv.global.opencv_imgproc.*;
/**
*
* @author Jeremy Laviole
*/
public class OpenKinect2FrameGrabber extends FrameGrabber {
public static String[] getDeviceDescriptions() throws FrameGrabber.Exception {
tryLoad();
String[] desc = new String[freenect2Context.enumerateDevices()];
for (int i = 0; i < desc.length; i++) {
desc[i] = freenect2Context.getDeviceSerialNumber(i).getString();
}
return desc;
}
public static int DEFAULT_DEPTH_WIDTH = 640;
public static int DEFAULT_DEPTH_HEIGHT = 480;
public static int DEFAULT_COLOR_WIDTH = 640;
public static int DEFAULT_COLOR_HEIGHT = 480;
private ByteOrder byteOrder = ByteOrder.BIG_ENDIAN;
private int depthImageWidth = DEFAULT_DEPTH_WIDTH;
private int depthImageHeight = DEFAULT_DEPTH_HEIGHT;
private int depthFrameRate = 60;
private int IRImageWidth = DEFAULT_DEPTH_WIDTH;
private int IRImageHeight = DEFAULT_DEPTH_HEIGHT;
private int IRFrameRate = 60;
private SyncMultiFrameListener frameListener;
public ByteOrder getByteOrder() {
return byteOrder;
}
public void setByteOrder(ByteOrder byteOrder) {
this.byteOrder = byteOrder;
}
public static OpenKinect2FrameGrabber createDefault(int deviceNumber) throws FrameGrabber.Exception {
return new OpenKinect2FrameGrabber(deviceNumber);
}
public static OpenKinect2FrameGrabber createDefault(File deviceFile) throws Exception {
throw new Exception(OpenKinect2FrameGrabber.class + " does not support File devices.");
}
public static OpenKinect2FrameGrabber createDefault(String devicePath) throws Exception {
throw new Exception(OpenKinect2FrameGrabber.class + " does not support path.");
}
private static FrameGrabber.Exception loadingException = null;
private static Freenect2 freenect2Context = null;
public static void tryLoad() throws FrameGrabber.Exception {
if (loadingException != null) {
loadingException.printStackTrace();
throw loadingException;
} else {
try {
if (freenect2Context != null) {
return;
}
Loader.load(org.bytedeco.libfreenect2.global.freenect2.class);
// Context is shared accross cameras.
freenect2Context = new Freenect2();
} catch (Throwable t) {
throw loadingException = new FrameGrabber.Exception("Failed to load " + OpenKinect2FrameGrabber.class, t);
}
}
}
private boolean colorEnabled = false;
private boolean depthEnabled = false;
private boolean IREnabled = false;
private int deviceNumber = 0;
private String serial = null;
private Freenect2Device device = null;
private int frameTypes = 0;
public OpenKinect2FrameGrabber(int deviceNumber) {
this.deviceNumber = deviceNumber;
}
public void enableColorStream() {
if (!colorEnabled) {
frameTypes |= org.bytedeco.libfreenect2.Frame.Color;
colorEnabled = true;
}
}
public void enableDepthStream() {
if (!depthEnabled) {
frameTypes |= org.bytedeco.libfreenect2.Frame.Depth;
depthEnabled = true;
}
}
public void enableIRStream() {
if (!IREnabled) {
frameTypes |= org.bytedeco.libfreenect2.Frame.Ir;
IREnabled = true;
}
}
public void release() throws FrameGrabber.Exception {
}
@Override
protected void finalize() throws Throwable {
super.finalize();
release();
}
@Override
public void start() throws FrameGrabber.Exception {
if (freenect2Context == null) {
try {
OpenKinect2FrameGrabber.tryLoad();
} catch (Exception e) {
System.out.println("Exception in the TryLoad !" + e);
e.printStackTrace();
}
}
if (freenect2Context == null) {
throw new Exception("FATAL error: OpenKinect2 camera: driver could not load.");
}
if (freenect2Context.enumerateDevices() == 0) {
throw new Exception("FATAL error: OpenKinect2: no device connected!");
}
device = null;
PacketPipeline pipeline = null;
pipeline = new CpuPacketPipeline();
// pipeline = new libfreenect2::OpenGLPacketPipeline();
// pipeline = new libfreenect2::OpenCLPacketPipeline(deviceId);
// pipeline = new libfreenect2::CudaPacketPipeline(deviceId);
serial = freenect2Context.getDeviceSerialNumber(deviceNumber).getString();
device = freenect2Context.openDevice(serial, pipeline);
frameListener = new SyncMultiFrameListener(frameTypes);
if (colorEnabled) {
device.setColorFrameListener(frameListener);
}
if (depthEnabled || IREnabled) {
device.setIrAndDepthFrameListener(frameListener);
}
rawVideoImage = IplImage.createHeader(1920, 1080, IPL_DEPTH_8U, 4);
device.start();
System.out.println("OpenKinect2 device started.");
System.out.println("Serial: " + device.getSerialNumber().getString());
System.out.println("Firmware: " + device.getFirmwareVersion().getString());
}
/**
*
* @throws Exception
*/
@Override
public void stop() throws FrameGrabber.Exception {
device.stop();
frameNumber = 0;
}
// private Pointer rawVideoImageData;
private IplImage rawVideoImage = null;
private IplImage videoImageRGBA = null;
private boolean hasFirstGoodColorImage = false;
private BytePointer videoBuffer = null;
protected void grabVideo() {
int iplDepth = IPL_DEPTH_8U;
org.bytedeco.libfreenect2.Frame rgb = frames.get(org.bytedeco.libfreenect2.Frame.Color);
int channels = (int) rgb.bytes_per_pixel();
int deviceWidth = (int) rgb.width();
int deviceHeight = (int) rgb.height();
BytePointer rawVideoImageData = rgb.data();
if (rawVideoImage == null) {
rawVideoImage = IplImage.createHeader(deviceWidth, deviceHeight, iplDepth, channels);
}
cvSetData(rawVideoImage, rawVideoImageData, deviceWidth * channels * iplDepth / 8);
if (videoImageRGBA == null) {
videoImageRGBA = rawVideoImage.clone();
}
cvCvtColor(rawVideoImage, videoImageRGBA, COLOR_BGRA2RGBA);
}
private IplImage rawIRImage = null;
protected void grabIR() {
/**
* 512x424 float. Range is [0.0, 65535.0].
*/
org.bytedeco.libfreenect2.Frame IRImage = frames.get(org.bytedeco.libfreenect2.Frame.Ir);
int channels = 1;
int iplDepth = IPL_DEPTH_32F;
int bpp = (int) IRImage.bytes_per_pixel();
int deviceWidth = (int) IRImage.width();
int deviceHeight = (int) IRImage.height();
Pointer rawIRData = IRImage.data();
if (rawIRImage == null) {
rawIRImage = IplImage.createHeader(deviceWidth, deviceHeight, iplDepth, channels);
}
cvSetData(rawIRImage, rawIRData, deviceWidth * channels * iplDepth / 8);
}
private IplImage rawDepthImage = null;
protected void grabDepth() {
/**
* 512x424 float also ?.
*/
org.bytedeco.libfreenect2.Frame depthImage = frames.get(org.bytedeco.libfreenect2.Frame.Depth);
int channels = 1;
int iplDepth = IPL_DEPTH_32F;
int bpp = (int) depthImage.bytes_per_pixel();
int deviceWidth = (int) depthImage.width();
int deviceHeight = (int) depthImage.height();
Pointer rawDepthData = depthImage.data();
if (rawDepthImage == null) {
rawDepthImage = IplImage.createHeader(deviceWidth, deviceHeight, iplDepth, channels);
}
cvSetData(rawDepthImage, rawDepthData, deviceWidth * channels * iplDepth / 8);
}
private FrameMap frames = new FrameMap();
/**
*
* @return null grabs all images, get them with grabColor, grabDepth, and
* grabIR instead.
* @throws org.bytedeco.javacv.FrameGrabber.Exception
*/
public Frame grab() throws Exception {
if (!frameListener.waitForNewFrame(frames, 10 * 1000)) // 10 seconds
{
System.out.println("Openkinect2: timeout!");
// TODO: throw exception
}
frameNumber++;
if (colorEnabled) {
grabVideo();
}
if (IREnabled) {
grabIR();
}
if (depthEnabled) {
grabDepth();
}
frameListener.release(frames);
return null;
}
public IplImage getVideoImage() {
return videoImageRGBA;
// return rawVideoImage;
}
public IplImage getIRImage() {
return rawIRImage;
}
public IplImage getDepthImage() {
return rawDepthImage;
}
@Override
public void trigger() throws Exception {
// device.wait_for_frames();
}
public int getDepthImageWidth() {
return depthImageWidth;
}
public void setDepthImageWidth(int depthImageWidth) {
this.depthImageWidth = depthImageWidth;
}
public int getDepthImageHeight() {
return depthImageHeight;
}
public void setDepthImageHeight(int depthImageHeight) {
this.depthImageHeight = depthImageHeight;
}
public int getIRImageWidth() {
return IRImageWidth;
}
public void setIRImageWidth(int IRImageWidth) {
this.IRImageWidth = IRImageWidth;
}
public int getIRImageHeight() {
return IRImageHeight;
}
public void setIRImageHeight(int IRImageHeight) {
this.IRImageHeight = IRImageHeight;
}
public int getDepthFrameRate() {
return depthFrameRate;
}
public void setDepthFrameRate(int frameRate) {
this.depthFrameRate = frameRate;
}
}
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