JavaCPP Presets for libfreenect2

Introduction

This directory contains the JavaCPP Presets module for:

• libfreenect2 0.2.0 https://github.com/OpenKinect/libfreenect2

Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.

Documentation

Java API documentation is available here:

• http://bytedeco.org/javacpp-presets/libfreenect2/apidocs/

Sample Usage

Here is the full code of the example found in the samples/ folder.

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 TestConnection.java source files below, simply execute on the command line:

 $ mvn compile exec:java

The pom.xml build file

<project>
    <modelVersion>4.0.0</modelVersion>
    <groupId>org.bytedeco.libfreenect</groupId>
    <artifactId>freenect2Example</artifactId>
    <version>1.5.2</version>
    <properties>
        <exec.mainClass>freenect2Example</exec.mainClass>
    </properties>
    <dependencies>
        <dependency>
            <groupId>org.bytedeco</groupId>
            <artifactId>libfreenect2-platform</artifactId>
            <version>0.2.0-1.5.2</version>
        </dependency>
    </dependencies>
    <build>
        <sourceDirectory>.</sourceDirectory>
    </build>
</project>

The freenect2Example.java source file

import org.bytedeco.javacpp.*;
import org.bytedeco.libfreenect2.*;
import static org.bytedeco.libfreenect2.global.freenect2.*;

/**
 *
 * @author Jeremy Laviole
 */
public class freenect2Example {
    public static void main(String[] args) {
        Freenect2 freenect2Context;
        try {
            Loader.load(org.bytedeco.libfreenect2.global.freenect2.class);
            // Context is shared accross cameras.
            freenect2Context = new Freenect2();
        } catch (Exception e) {
            System.out.println("Exception in the TryLoad !" + e);
            e.printStackTrace();
            return;
        }
        Freenect2Device device = null;
        PacketPipeline pipeline = null;
        String serial = "";

        // Only CPU pipeline tested.
        pipeline = new CpuPacketPipeline();
//        pipeline = new libfreenect2::OpenGLPacketPipeline();
//        pipeline = new libfreenect2::OpenCLPacketPipeline(deviceId);
//        pipeline = new libfreenect2::CudaPacketPipeline(deviceId);

        if (serial == "") {
            serial = freenect2Context.getDefaultDeviceSerialNumber().getString();
            System.out.println("Serial:" + serial);
        }

        device = freenect2Context.openDevice(serial, pipeline);
        // [listeners]
        int types = 0;
        types |= Frame.Color;
        types |= Frame.Ir | Frame.Depth;

        SyncMultiFrameListener listener = new SyncMultiFrameListener(types);

        device.setColorFrameListener(listener);
        device.setIrAndDepthFrameListener(listener);

        device.start();

        System.out.println("Serial: " + device.getSerialNumber().getString());
        System.out.println("Firmware: " + device.getFirmwareVersion().getString());
/// [start]

        FrameMap frames = new FrameMap();
        // Fetch 100 frames.
        int frameCount = 0;
        for (int i = 0; i < 100; i++) {
            System.out.println("getting frame " + frameCount);
            if (!listener.waitForNewFrame(frames, 10 * 1000)) // 10 sconds
            {
                System.out.println("timeout!");
                return;
            }

            Frame rgb = frames.get(Frame.Color);
            Frame ir = frames.get(Frame.Ir);
            Frame depth = frames.get(Frame.Depth);
/// [loop start]
            System.out.println("RGB image, w:" + rgb.width() + " " + rgb.height());
            byte[] imgData = new byte[1000];
            rgb.data().get(imgData);
            for (int pix = 0; pix < 10; pix++) {
                System.out.print(imgData[pix] + " ");
            }
            System.out.println();
            frameCount++;
            listener.release(frames);
            continue;
        }
        device.stop();
        device.close();
    }
}