Tutorial Kinect - Revision history

Peter at 01:44, 4 January 2017

2017-01-04T01:44:14Z

← Older revision		Revision as of 01:44, 4 January 2017
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	Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (GrayU16) and the RGB in any standard image format.		Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (GrayU16) and the RGB in any standard image format.

	~~Relevant Applets:~~
	* [[Applet Visual Odometry Depth\| Visual Odometry Depth]]

	Related Examples:		Related Examples:

Peter at 13:19, 28 March 2016

2016-03-28T13:19:42Z

← Older revision		Revision as of 13:19, 28 March 2016
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	To access helper function for Kinect in BoofCV go to the boofcv/integration/openkinect directory. Several useful examples and utilities are provided in the openkinect/examples directory, while the main source code is in openkinect/src directory. To use these functions, be sure to include the BoofCV_OpenKinect.jar in your project. This can be downloaded precompile or you can compile it yourself using ant.		To access helper function for Kinect in BoofCV go to the boofcv/integration/openkinect directory. Several useful examples and utilities are provided in the openkinect/examples directory, while the main source code is in openkinect/src directory. To use these functions, be sure to include the BoofCV_OpenKinect.jar in your project. This can be downloaded precompile or you can compile it yourself using ant.

	Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (~~ImageUInt16~~) and the RGB in any standard image format.		Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (GrayU16) and the RGB in any standard image format.

	Relevant Applets:		Relevant Applets:
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	Related Examples:		Related Examples:
	* [https://github.com/lessthanoptimal/BoofCV/tree/v0.15/integration/openkinect/example/src/boofcv/example/\| Examples in source code]		* [https://github.com/lessthanoptimal/BoofCV/tree/v0.23/integration/openkinect/example/src/boofcv/example/\| Examples in source code]
	* [[Example_Point_Cloud_Depth_Image\| Depth Point Cloud]]		* [[Example_Point_Cloud_Depth_Image\| Depth Point Cloud]]
	* [[Example Visual Odometry Depth\| Depth Visual Odometry]]		* [[Example Visual Odometry Depth\| Depth Visual Odometry]]
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	{		{
	// ~~Modify this link~~ to ~~be where you store~~ your shared library		// be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the location of your shared library!
	NativeLibrary.addSearchPath("freenect", ~~"/home/pja/libfreenect/build/lib"~~);		NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
	}		}

	~~MultiSpectral~~<~~ImageUInt8~~> rgb = new ~~MultiSpectral~~<~~ImageUInt8~~>(~~ImageUInt8~~.class,1,1,3);		Planar<GrayU8> rgb = new Planar<GrayU8>(GrayU8.class,1,1,3);
	~~ImageUInt16~~ depth = new ~~ImageUInt16~~(1,1);		GrayU16 depth = new GrayU16(1,1);

	BufferedImage outRgb;		BufferedImage outRgb;
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	UtilOpenKinect.bufferDepthToU16(frame, depth);		UtilOpenKinect.bufferDepthToU16(frame, depth);

	VisualizeImageData.~~grayUnsigned~~(depth,outDepth,~~1000~~);		// VisualizeImageData.grayUnsigned(depth,outDepth,UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE);
			VisualizeImageData.disparity(depth, outDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE,0);
	guiDepth.repaint();		guiDepth.repaint();
	}		}
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	}		}

	System.out.println("Got rgb! "+timestamp);		System.out.println("Got rgb! "+timestamp);

	if( outRgb == null ) {		if( outRgb == null ) {
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	UtilOpenKinect.bufferRgbToMsU8(frame, rgb);		UtilOpenKinect.bufferRgbToMsU8(frame, rgb);
	ConvertBufferedImage.convertTo_U8(rgb,outRgb);		ConvertBufferedImage.convertTo_U8(rgb,outRgb,true);

	guiRgb.repaint();		guiRgb.repaint();

Peter at 22:30, 20 June 2013

2013-06-20T22:30:51Z

← Older revision		Revision as of 22:30, 20 June 2013
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	Related Examples:		Related Examples:
	* [https://github.com/lessthanoptimal/BoofCV/tree/v0.15/integration/openkinect/example/src/boofcv/example\| Examples in source code]		* [https://github.com/lessthanoptimal/BoofCV/tree/v0.15/integration/openkinect/example/src/boofcv/example/\| Examples in source code]
	* [[Example_Point_Cloud_Depth_Image\| Depth Point Cloud]]		* [[Example_Point_Cloud_Depth_Image\| Depth Point Cloud]]
	* [[Example Visual Odometry Depth\| Depth Visual Odometry]]		* [[Example Visual Odometry Depth\| Depth Visual Odometry]]

Peter at 22:29, 20 June 2013

2013-06-20T22:29:03Z

← Older revision		Revision as of 22:29, 20 June 2013
Line 11:		Line 11:

	Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (ImageUInt16) and the RGB in any standard image format.		Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (ImageUInt16) and the RGB in any standard image format.

			Relevant Applets:
			* [[Applet Visual Odometry Depth\| Visual Odometry Depth]]

			Related Examples:
			* [https://github.com/lessthanoptimal/BoofCV/tree/v0.15/integration/openkinect/example/src/boofcv/example\| Examples in source code]
			* [[Example_Point_Cloud_Depth_Image\| Depth Point Cloud]]
			* [[Example Visual Odometry Depth\| Depth Visual Odometry]]

	== Usage Example ==		== Usage Example ==

Peter at 22:25, 20 June 2013

2013-06-20T22:25:17Z

← Older revision		Revision as of 22:25, 20 June 2013
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	= Kinect ~~Support =~~		<center>
			<gallery widths=320px heights=240px>
			file:Kinect_depth_basket.jpg \| Depth image from Kinect sensor
			file:Kinect_point_cloud_basket.jpg \| 3D point cloud created from RGB and depth images
			</gallery>
			</center>

	The Kinect a popular RGB-D sensor which provides both video and depth information. BoofCV provides support for the [http://openkinect.org\|OpenKinect] driver directly through several helper function. The project already provides a Java interface. The Kinect is much easier to work with than stereo cameras and provides similar information. The major downside to working with a Kinect sensor is that they can't be use outdoors and have a more limited range.		The Kinect a popular RGB-D sensor which provides both video and depth information. BoofCV provides support for the [http://openkinect.org\|OpenKinect] driver directly through several helper function. The project already provides a Java interface. The Kinect is much easier to work with than stereo cameras and provides similar information. The major downside to working with a Kinect sensor is that they can't be use outdoors and have a more limited range.

Peter: Created page with "= Kinect Support = The Kinect a popular RGB-D sensor which provides both video and depth information. BoofCV provides support for the [http://openkinect.org|OpenKinect] driv..."

2013-06-20T22:16:00Z

Created page with "= Kinect Support = The Kinect a popular RGB-D sensor which provides both video and depth information. BoofCV provides support for the [http://openkinect.org|OpenKinect] driv..."

New page

= Kinect Support =

The Kinect a popular RGB-D sensor which provides both video and depth information. BoofCV provides support for the [http://openkinect.org|OpenKinect] driver directly through several helper function. The project already provides a Java interface. The Kinect is much easier to work with than stereo cameras and provides similar information. The major downside to working with a Kinect sensor is that they can't be use outdoors and have a more limited range.

To access helper function for Kinect in BoofCV go to the boofcv/integration/openkinect directory. Several useful examples and utilities are provided in the openkinect/examples directory, while the main source code is in openkinect/src directory. To use these functions, be sure to include the BoofCV_OpenKinect.jar in your project. This can be downloaded precompile or you can compile it yourself using ant.

Two classes are provided in the Kinect jar, StreamOpenKinectRgbDepth and UtilOpenKinect. StreamOpenKinectRgbDepth is a high level interface for streaming data from a kinect using OpenKinect. UtilOpenKinect contains functions for manipulating, reading, and saving Kinect data. The depth image is stored as an unsigned 16-bit gray scale image (ImageUInt16) and the RGB in any standard image format.

== Usage Example ==

Many more examples are provided in the openkinect/examples directory. Here is one showing typical usage.

<syntaxhighlight lang="java">
/**
* Example demonstrating how to process and display data from the Kinect.
*
* @author Peter Abeles
*/
public class OpenKinectStreamingTest {

{
// Modify this link to be where you store your shared library
NativeLibrary.addSearchPath("freenect", "/home/pja/libfreenect/build/lib");
}

MultiSpectral<ImageUInt8> rgb = new MultiSpectral<ImageUInt8>(ImageUInt8.class,1,1,3);
ImageUInt16 depth = new ImageUInt16(1,1);

BufferedImage outRgb;
ImagePanel guiRgb;

BufferedImage outDepth;
ImagePanel guiDepth;

public void process() {
Context kinect = Freenect.createContext();

if( kinect.numDevices() < 0 )
throw new RuntimeException("No kinect found!");

Device device = kinect.openDevice(0);

device.setDepthFormat(DepthFormat.REGISTERED);
device.setVideoFormat(VideoFormat.RGB);

device.startDepth(new DepthHandler() {
@Override
public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
processDepth(mode,frame,timestamp);
}
});
device.startVideo(new VideoHandler() {
@Override
public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
processRgb(mode,frame,timestamp);
}
});

long starTime = System.currentTimeMillis();
while( starTime+100000 > System.currentTimeMillis() ) {}
System.out.println("100 Seconds elapsed");

device.stopDepth();
device.stopVideo();
device.close();

}

protected void processDepth( FrameMode mode, ByteBuffer frame, int timestamp ) {
System.out.println("Got depth! "+timestamp);

if( outDepth == null ) {
depth.reshape(mode.getWidth(),mode.getHeight());
outDepth = new BufferedImage(depth.width,depth.height,BufferedImage.TYPE_INT_RGB);
guiDepth = ShowImages.showWindow(outDepth,"Depth Image");
}

UtilOpenKinect.bufferDepthToU16(frame, depth);

VisualizeImageData.grayUnsigned(depth,outDepth,1000);
guiDepth.repaint();
}

protected void processRgb( FrameMode mode, ByteBuffer frame, int timestamp ) {
if( mode.getVideoFormat() != VideoFormat.RGB ) {
System.out.println("Bad rgb format!");
}

System.out.println("Got rgb! "+timestamp);

if( outRgb == null ) {
rgb.reshape(mode.getWidth(),mode.getHeight());
outRgb = new BufferedImage(rgb.width,rgb.height,BufferedImage.TYPE_INT_RGB);
guiRgb = ShowImages.showWindow(outRgb,"RGB Image");
}

UtilOpenKinect.bufferRgbToMsU8(frame, rgb);
ConvertBufferedImage.convertTo_U8(rgb,outRgb);

guiRgb.repaint();
}

public static void main( String args[] ) {
OpenKinectStreamingTest app = new OpenKinectStreamingTest();

app.process();
}
}
</syntaxhighlight>