This directory contains the JavaCPP Presets module for:
- libfreenect 0.5.7 http://openkinect.org/
Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.
Java API documentation is available here:
Here is a simple example of libfreenect ported to Java from this C source file:
We can use Maven 3 to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the pom.xml and GLPCLView.java source files below, simply execute on the command line:
$ mvn compile exec:java<project>
<modelVersion>4.0.0</modelVersion>
<groupId>org.bytedeco.libfreenect</groupId>
<artifactId>glpclview</artifactId>
<version>1.5</version>
<properties>
<exec.mainClass>GLPCLView</exec.mainClass>
</properties>
<dependencies>
<dependency>
<groupId>org.bytedeco</groupId>
<artifactId>libfreenect-platform</artifactId>
<version>0.5.7-1.5</version>
</dependency>
<dependency>
<groupId>org.jogamp.gluegen</groupId>
<artifactId>gluegen-rt-main</artifactId>
<version>2.3.2</version>
<optional>true</optional>
</dependency>
<dependency>
<groupId>org.jogamp.jogl</groupId>
<artifactId>jogl-all-main</artifactId>
<version>2.3.2</version>
<optional>true</optional>
</dependency>
</dependencies>
<build>
<sourceDirectory>.</sourceDirectory>
</build>
</project>/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
* for details.
*
* Andrew Miller <amiller@dappervision.com>
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified, you
* may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
*
* Binary distributions must follow the binary distribution requirements of
* either License.
*/
import com.jogamp.opengl.*;
import com.jogamp.opengl.awt.*;
import com.jogamp.opengl.glu.*;
import com.jogamp.opengl.util.*;
import java.awt.*;
import java.awt.event.*;
import java.nio.*;
import javax.swing.*;
import org.bytedeco.javacpp.*;
import org.bytedeco.libfreenect.*;
import static java.lang.Math.*;
import static org.bytedeco.libfreenect.global.freenect.*;
public class GLPCLView {
static GLU glu = new GLU();
static GLCanvas canvas;
static JFrame frame;
static FPSAnimator animator;
static int[] gl_rgb_tex = new int[1];
static int mx = -1, my = -1; // Previous mouse coordinates
static int[] rotangles = {0, 0}; // Panning angles
static float zoom = 1; // Zoom factor
static boolean color = true; // Use the RGB texture or just draw it as color
static IntBuffer indices = ByteBuffer.allocateDirect(4 * 480 * 640).order(ByteOrder.nativeOrder()).asIntBuffer();
static ShortBuffer xyz = ByteBuffer.allocateDirect(2 * 480 * 640 * 3).order(ByteOrder.nativeOrder()).asShortBuffer();
// Do the projection from u,v,depth to X,Y,Z directly in an opengl matrix
// These numbers come from a combination of the ros kinect_node wiki, and
// nicolas burrus' posts.
static void LoadVertexMatrix(GL2 gl2) {
float fx = 594.21f;
float fy = 591.04f;
float a = -0.0030711f;
float b = 3.3309495f;
float cx = 339.5f;
float cy = 242.7f;
float mat[] = {
1/fx, 0, 0, 0,
0, -1/fy, 0, 0,
0, 0, 0, a,
-cx/fx, cy/fy, -1, b
};
gl2.glMultMatrixf(mat, 0);
}
// This matrix comes from a combination of nicolas burrus's calibration post
// and some python code I haven't documented yet.
static void LoadRGBMatrix(GL2 gl2) {
float mat[] = {
5.34866271e+02f, 3.89654806e+00f, 0.00000000e+00f, 1.74704200e-02f,
-4.70724694e+00f, -5.28843603e+02f, 0.00000000e+00f, -1.22753400e-02f,
-3.19670762e+02f, -2.60999685e+02f, 0.00000000e+00f, -9.99772000e-01f,
-6.98445586e+00f, 3.31139785e+00f, 0.00000000e+00f, 1.09167360e-02f
};
gl2.glMultMatrixf(mat, 0);
}
static void mouseMoved(int x, int y) {
if (mx >= 0 && my >= 0) {
rotangles[0] += y - my;
rotangles[1] += x - mx;
}
mx = x;
my = y;
}
static void mousePress(int button, int state, int x, int y) {
if (button == MouseEvent.BUTTON1 && state == MouseEvent.MOUSE_PRESSED) {
mx = x;
my = y;
}
if (button == MouseEvent.BUTTON1 && state == MouseEvent.MOUSE_RELEASED) {
mx = -1;
my = -1;
}
}
static void no_kinect_quit() {
System.out.println("Error: Kinect not connected?");
frame.dispose();
System.exit(1);
}
static void DrawGLScene(GL2 gl2) {
ShortPointer depthPointer = new ShortPointer((Pointer)null);
BytePointer rgbPointer = new BytePointer((Pointer)null);
int[] ts = new int[1];
if (freenect_sync_get_depth(depthPointer, ts, 0, FREENECT_DEPTH_11BIT) < 0) {
no_kinect_quit();
}
if (freenect_sync_get_video(rgbPointer, ts, 0, FREENECT_VIDEO_RGB) < 0) {
no_kinect_quit();
}
ShortBuffer depth = depthPointer.capacity(640 * 480).asBuffer();
ByteBuffer rgb = rgbPointer.capacity(640 * 480 * 3).asBuffer();
for (int i = 0; i < 480; i++) {
for (int j = 0; j < 640; j++) {
xyz.put(i * 640 * 3 + j * 3 + 0, (short)j);
xyz.put(i * 640 * 3 + j * 3 + 1, (short)i);
xyz.put(i * 640 * 3 + j * 3 + 2, depth.get(i * 640 + j));
indices.put(i * 640 + j, i * 640 + j);
}
}
gl2.glClear(GL2.GL_COLOR_BUFFER_BIT | GL2.GL_DEPTH_BUFFER_BIT);
gl2.glLoadIdentity();
gl2.glPushMatrix();
gl2.glScalef(zoom, zoom, 1);
gl2.glTranslatef(0, 0, -3.5f);
gl2.glRotatef(rotangles[0], 1, 0, 0);
gl2.glRotatef(rotangles[1], 0, 1, 0);
gl2.glTranslatef(0, 0, 1.5f);
LoadVertexMatrix(gl2);
// Set the projection from the XYZ to the texture image
gl2.glMatrixMode(GL2.GL_TEXTURE);
gl2.glLoadIdentity();
gl2.glScalef(1/640.0f,1/480.0f,1);
LoadRGBMatrix(gl2);
LoadVertexMatrix(gl2);
gl2.glMatrixMode(GL2.GL_MODELVIEW);
gl2.glPointSize(1);
gl2.glEnableClientState(GL2.GL_VERTEX_ARRAY);
gl2.glVertexPointer(3, GL2.GL_SHORT, 0, xyz);
gl2.glEnableClientState(GL2.GL_TEXTURE_COORD_ARRAY);
gl2.glTexCoordPointer(3, GL2.GL_SHORT, 0, xyz);
if (color) {
gl2.glEnable(GL2.GL_TEXTURE_2D);
}
gl2.glBindTexture(GL2.GL_TEXTURE_2D, gl_rgb_tex[0]);
gl2.glTexImage2D(GL2.GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL2.GL_RGB, GL2.GL_UNSIGNED_BYTE, rgb);
gl2.glPointSize(2.0f);
gl2.glDrawElements(GL2.GL_POINTS, 640*480, GL2.GL_UNSIGNED_INT, indices);
gl2.glPopMatrix();
gl2.glDisable(GL2.GL_TEXTURE_2D);
}
static void keyPressed(int key) {
if (key == KeyEvent.VK_ESCAPE) {
freenect_sync_stop();
frame.dispose();
System.exit(0);
}
if (key == KeyEvent.VK_W) {
zoom *= 1.1f;
}
if (key == KeyEvent.VK_S) {
zoom /= 1.1f;
}
if (key == KeyEvent.VK_C) {
color = !color;
}
}
static void ReSizeGLScene(GL2 gl2, int Width, int Height) {
gl2.glViewport(0,0,Width,Height);
gl2.glMatrixMode(GL2.GL_PROJECTION);
gl2.glLoadIdentity();
glu.gluPerspective(60, 4/3., 0.3, 200);
gl2.glMatrixMode(GL2.GL_MODELVIEW);
}
static void InitGL(GL2 gl2, int Width, int Height) {
gl2.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
gl2.glEnable(GL2.GL_DEPTH_TEST);
gl2.glGenTextures(1, gl_rgb_tex, 0);
gl2.glBindTexture(GL2.GL_TEXTURE_2D, gl_rgb_tex[0]);
gl2.glTexParameteri(GL2.GL_TEXTURE_2D, GL2.GL_TEXTURE_MIN_FILTER, GL2.GL_LINEAR);
gl2.glTexParameteri(GL2.GL_TEXTURE_2D, GL2.GL_TEXTURE_MAG_FILTER, GL2.GL_LINEAR);
ReSizeGLScene(gl2, Width, Height);
}
public static void main(String[] args) {
Loader.load(org.bytedeco.libfreenect.global.freenect.class);
canvas = new GLCanvas();
canvas.addGLEventListener(new GLEventListener() {
@Override public void init(GLAutoDrawable glautodrawable) {
InitGL(glautodrawable.getGL().getGL2(), glautodrawable.getSurfaceWidth(), glautodrawable.getSurfaceHeight());
}
@Override public void display(GLAutoDrawable glautodrawable) {
DrawGLScene(glautodrawable.getGL().getGL2());
}
@Override public void dispose(GLAutoDrawable glautodrawable) {
}
@Override public void reshape(GLAutoDrawable glautodrawable, int x, int y, int width, int height) {
ReSizeGLScene(glautodrawable.getGL().getGL2(), width, height);
}
});
canvas.addKeyListener(new KeyAdapter() {
@Override public void keyPressed(KeyEvent e) {
GLPCLView.keyPressed(e.getKeyCode());
}
});
canvas.addMouseMotionListener(new MouseMotionAdapter() {
@Override public void mouseDragged(MouseEvent e) {
GLPCLView.mouseMoved(e.getX(), e.getY());
}
});
canvas.addMouseListener(new MouseAdapter() {
@Override public void mousePressed(MouseEvent e) {
mousePress(e.getButton(), MouseEvent.MOUSE_PRESSED, e.getX(), e.getY());
}
@Override public void mouseReleased(MouseEvent e) {
mousePress(e.getButton(), MouseEvent.MOUSE_RELEASED, e.getX(), e.getY());
}
});
frame = new JFrame("LibFreenect");
frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
frame.getContentPane().setPreferredSize(new Dimension(640, 480));
frame.getContentPane().add(canvas);
frame.pack();
frame.setVisible(true);
animator = new FPSAnimator(canvas, 60, true);
animator.start();
}
}