This directory contains the JavaCPP Presets module for:
- libfreenect 0.5.1 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 src/main/java/GLPCLView.java source files below, simply execute on the command line:
$ mvn package exec:java -Dplatform.dependencies -Dexec.mainClass=GLPCLView<project>
<modelVersion>4.0.0</modelVersion>
<groupId>org.bytedeco.javacpp-presets.libfreenect</groupId>
<artifactId>glpclview</artifactId>
<version>0.10</version>
<dependencies>
<dependency>
<groupId>org.bytedeco.javacpp-presets</groupId>
<artifactId>libfreenect</artifactId>
<version>0.5.1-0.10</version>
</dependency>
<dependency>
<groupId>org.jogamp.gluegen</groupId>
<artifactId>gluegen-rt-main</artifactId>
<version>2.0.2</version>
<optional>true</optional>
</dependency>
<dependency>
<groupId>org.jogamp.jogl</groupId>
<artifactId>jogl-all-main</artifactId>
<version>2.0.2</version>
<optional>true</optional>
</dependency>
</dependencies>
</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 java.awt.*;
import java.awt.event.*;
import java.nio.*;
import javax.media.opengl.*;
import javax.media.opengl.awt.*;
import javax.media.opengl.glu.*;
import javax.swing.*;
import com.jogamp.opengl.util.*;
import org.bytedeco.javacpp.*;
import static java.lang.Math.*;
import static org.bytedeco.javacpp.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(freenect.class);
canvas = new GLCanvas();
canvas.addGLEventListener(new GLEventListener() {
@Override public void init(GLAutoDrawable glautodrawable) {
InitGL(glautodrawable.getGL().getGL2(), glautodrawable.getWidth(), glautodrawable.getHeight());
}
@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) {
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();
}
}