ohmm

Class CvKinect

java.lang.Object

ohmm.CvBase

ohmm.CvKinect

Direct Known Subclasses:

CvKinectDemo

public class CvKinect
extends CvBase

CvBase extensions for Kinect.

Uses either OpenNI via OpenCV or OpenKinect (libfreenect) via JavaCV OpenKinectFrameGrabber (the default). Depth-to-RGB registration is an option for both (see setDepthRegistration(boolean)). Grabbing both depth and color images simultaneously, tilt sensing/actuation, and LED control are only available with OpenKinect.

Author:

Marsette A. Vona

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	DEF_APPNAME Default application name.
static java.lang.String	DEF_INPUT Default input device index (OpenKinectFrameGrabber).
static int	MAX_DEPTH_11BIT Valid range of 11-bit depth values.
static int	MAX_DEPTH_MM Valid range of depth values in mm.
static int	MIN_DEPTH_11BIT Valid range of 11-bit depth values.
static int	MIN_DEPTH_MM Valid range of depth values in mm.
protected com.googlecode.javacv.OpenKinectFrameGrabber	okGrabber OpenKinectFrameGrabber instance, if any.

Fields inherited from class ohmm.CvBase

appname, brightness, canvasFrame, canvasFrameKeyEvent, cap, CAP_PROP_NAMES, CAP_PROPS, capImage, dbg, DEF_CAM_H, DEF_CAM_W, DEF_MAX_FPS, DEF_MIN_DELAY_MS, DEF_SERVER_FPS, DEF_SERVER_PORT, DEF_USE_CANVAS_FRAME, DEF_USE_CONSOLE, DEF_USE_SERVER, DEF_USE_WINDOW, enableExit, exposure, FMT, frameEndMS, frameN, gain, grabber, height, hue, maxFPS, minDelayMS, mouseCallback, msgStream, msPerTick, paused, procImage, saturation, saveImage, server, serverFPS, serverImage, serverKey, serverPort, streamIndex, useCanvasFrame, useConsole, useServer, useWindow, V4L2_AUTO_PROP_NAMES, V4L2_AUTO_PROP_OFF_VALS, V4L2_AUTO_PROP_ON_VALS, V4L2_AUTO_PROPS, V4L2_CID_AUDIO_BALANCE, V4L2_CID_AUDIO_BASS, V4L2_CID_AUDIO_LOUDNESS, V4L2_CID_AUDIO_MUTE, V4L2_CID_AUDIO_TREBLE, V4L2_CID_AUDIO_VOLUME, V4L2_CID_AUTO_WHITE_BALANCE, V4L2_CID_AUTOGAIN, V4L2_CID_BACKLIGHT_COMPENSATION, V4L2_CID_BASE, V4L2_CID_BLACK_LEVEL, V4L2_CID_BLUE_BALANCE, V4L2_CID_BRIGHTNESS, V4L2_CID_CAMERA_CLASS, V4L2_CID_CAMERA_CLASS_BASE, V4L2_CID_CONTRAST, V4L2_CID_DO_WHITE_BALANCE, V4L2_CID_EXPOSURE, V4L2_CID_EXPOSURE_ABSOLUTE, V4L2_CID_EXPOSURE_AUTO, V4L2_CID_EXPOSURE_AUTO_PRIORITY, V4L2_CID_FOCUS_ABSOLUTE, V4L2_CID_FOCUS_AUTO, V4L2_CID_FOCUS_RELATIVE, V4L2_CID_GAIN, V4L2_CID_GAMMA, V4L2_CID_HCENTER_DEPRECATED, V4L2_CID_HFLIP, V4L2_CID_HUE, V4L2_CID_HUE_AUTO, V4L2_CID_LASTP1, V4L2_CID_PAN_ABSOLUTE, V4L2_CID_PAN_RELATIVE, V4L2_CID_PAN_RESET, V4L2_CID_POWER_LINE_FREQUENCY, V4L2_CID_POWER_LINE_FREQUENCY_50HZ, V4L2_CID_POWER_LINE_FREQUENCY_60HZ, V4L2_CID_POWER_LINE_FREQUENCY_DISABLED, V4L2_CID_PRIVATE_BASE, V4L2_CID_RED_BALANCE, V4L2_CID_SATURATION, V4L2_CID_SHARPNESS, V4L2_CID_TILT_ABSOLUTE, V4L2_CID_TILT_RELATIVE, V4L2_CID_TILT_RESET, V4L2_CID_USER_BASE, V4L2_CID_USER_CLASS, V4L2_CID_VCENTER_DEPRECATED, V4L2_CID_VFLIP, V4L2_CID_WHITE_BALANCE_TEMPERATURE, V4L2_CID_WHITENESS, V4L2_CTRL_CLASS_CAMERA, V4L2_CTRL_CLASS_MPEG, V4L2_CTRL_CLASS_USER, V4L2_EXPOSURE_APERTURE_PRIORITY, V4L2_EXPOSURE_AUTO, V4L2_EXPOSURE_MANUAL, V4L2_EXPOSURE_SHUTTER_PRIORITY, v4l2Auto, warnStream, width

Constructor Summary

Constructors

Constructor and Description
CvKinect() Sets options for Kinect.
CvKinect(java.lang.String appname) Sets options for Kinect.

Method Summary

Methods

Modifier and Type	Method and Description
protected void	cmdHelpExt() Shows Kinect-specific options.
com.googlecode.javacv.cpp.opencv_core.IplImage	depthToBGR(com.googlecode.javacv.cpp.opencv_core.IplImage depth, com.googlecode.javacv.cpp.opencv_core.IplImage bgr, int max, float scale) Convert a depth image to BGR false color.
protected java.lang.String	getDefAppname() Gets the default appname, may be overridden.
protected java.lang.String	getDefInput() Gets the default input, may be overridden.
int	getTiltDegs() Get the tilt motor angle.
int	getTiltState(com.googlecode.javacv.cpp.freenect.freenect_raw_tilt_state state) Get the raw tilt state.
int	initExt(int argc, java.lang.String[] argv, int ate) Extra initialization, for subclasses.
static void	main(java.lang.String[] argv) Test program entry point.
void	setDepthRegistration(boolean enable) Enable or disable depth registration.
void	setFormat(java.lang.String format) Set the frame format.
int	setLED(int led) Set the LED.
int	setTiltDegs(int angle) Set the tilt motor angle.

Methods inherited from class ohmm.CvBase

camIndexOptional, cmdHelp, cmdHelpExtParams, doneProcessing, dumpCaptureProperties, finalize, fmt, getCaptureProperty, guiHelp, guiHelpExt, handleKey, handleKeyExt, handleMouse, handleMouse, init, init, init, init, mainLoop, makeGrabber, makeServer, mouseEventToString, msg, nowMS, process, release, save, setCaptureProperty, updateServerImage, v4l2DisableAuto, v4l2EnableAuto, v4l2GetExposure, v4l2SetExposure, waitForKeypresss, warn

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEF_APPNAME

public static final java.lang.String DEF_APPNAME

Default application name.

See Also:

Constant Field Values

DEF_INPUT

public static final java.lang.String DEF_INPUT

Default input device index (OpenKinectFrameGrabber).

MIN_DEPTH_MM

public static final int MIN_DEPTH_MM

Valid range of depth values in mm.

See Also:

Constant Field Values

MAX_DEPTH_MM

public static final int MAX_DEPTH_MM

Valid range of depth values in mm.

See Also:

Constant Field Values

MIN_DEPTH_11BIT

public static final int MIN_DEPTH_11BIT

Valid range of 11-bit depth values.

See Also:

Constant Field Values

MAX_DEPTH_11BIT

public static final int MAX_DEPTH_11BIT

Valid range of 11-bit depth values.

See Also:

Constant Field Values

okGrabber

protected com.googlecode.javacv.OpenKinectFrameGrabber okGrabber

OpenKinectFrameGrabber instance, if any.

Constructor Detail

CvKinect

public CvKinect(java.lang.String appname)

Sets options for Kinect.

CvKinect

public CvKinect()

Sets options for Kinect.

Method Detail

getDefAppname

protected java.lang.String getDefAppname()

Gets the default appname, may be overridden.

Overrides:

getDefAppname in class CvBase

getDefInput

protected java.lang.String getDefInput()

Gets the default input, may be overridden.

Overrides:

getDefInput in class CvBase

initExt

public int initExt(int argc,
          java.lang.String[] argv,
          int ate)

Extra initialization, for subclasses.

This impl sets okGrabber.

Overrides:

initExt in class CvBase

ate - the number of command line arguments already eaten by CvBase.init(int, String[])

Returns:

the total number of arguments eaten

cmdHelpExt

protected void cmdHelpExt()

Shows Kinect-specific options.

Overrides:

cmdHelpExt in class CvBase

setTiltDegs

public int setTiltDegs(int angle)

Set the tilt motor angle.

Only available when using the OpenKinect backend.

Parameters:

angle - the angle in degrees

Returns:

nonzero on error

getTiltDegs

public int getTiltDegs()

Get the tilt motor angle.

Only available when using the OpenKinect backend.

Returns:

angle the angle in degrees

getTiltState

public int getTiltState(com.googlecode.javacv.cpp.freenect.freenect_raw_tilt_state state)

Get the raw tilt state.

Only available when using the OpenKinect backend.

Parameters:

state - the state structure to be filled in, not null

Returns:

nonzero on error

setLED

public int setLED(int led)

Set the LED.

Only available when using the OpenKinect backend.

Parameters:

led - one of the OpenKinect LED_* constants

Returns:

nonzero on error

setFormat

public void setFormat(java.lang.String format)

Set the frame format.

Only available when using the OpenKinect backend.

Parameters:

format - either "depth" or "video"

setDepthRegistration

public void setDepthRegistration(boolean enable)

Enable or disable depth registration.

depthToBGR

public com.googlecode.javacv.cpp.opencv_core.IplImage depthToBGR(com.googlecode.javacv.cpp.opencv_core.IplImage depth,
                                                        com.googlecode.javacv.cpp.opencv_core.IplImage bgr,
                                                        int max,
                                                        float scale)

Convert a depth image to BGR false color.

Parameters:

depth - the depth image, must be 1 channel IPL_DEPTH_16U

bgr - the BGR image, must be null or 3 channel IPL_DEPTH_8U

max - the max depth value

scale - scale factor applied after gamma

Returns:

the BGR image, consed if needed

Uses the same algorithm as OpenKinect/libfreenect glview.

main

public static void main(java.lang.String[] argv)

Test program entry point.