Kinect + Processing + Eclipse

--D. Thiebaut 15:21, 4 November 2011 (EDT)

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This tutorial is just a quick tech-note to install Daniel Shiffman's Processing library and make it work with Eclipse. This tutorial assumes a Mac platform.

System Snapshot

• Mac OS Lion
• MacPro
• Processing 1.5
• Eclipse Helios Service Release 1

Downloads

• Get Processing (if you don't have it already)
• Get Shiffman's openkinect.zip.
• Install Eclipse if necessary

Steps

New Project

• Open Eclipse
• Create a new Java project in Eclipse

Get the Processing core library

• Right-click (or Ctrl-click) on the project, and click on Import
• From the import menu, click 'File System
• Browse through your hierarchy of files and find the core.jar file inside the Processing.app application folder. On my machine, this was located in /Applications/Processing.app/Contents/Resources/Java
• Click on the box next to core.jar and then click on Finish

Add the core library to the build path

• Click on the project, right click on it, and select Properties
• In the Libraries tab, click Add Jar, then open up your project in the new window, and select core.jar.
• You should have a new library in your build path:

Add OpenKinect Library and Support Files

• Unzip the openkinect.zip file in a separate folder.
• Using the same method described above to import the core.jar file into the project, import the openkinect.jar file from the openkinect.zip archive into the project.
• Add it to the build path.

• Open a Terminal window, and cd your way to the folder containing the unzipped openkinect archive. Find libKinect.jnilib library file, and copy it to the Java Extensions folder on your machine.

For me, this was done by typing this in Terminal:

 cp openkinect/library/libKinect.jnilib /Library/Java/Extensions/ 

• We now need to specify that the libKinect.jnilib file we just copied to the Java Extensions folder is the native library for openkinect.jar
  • Open the project properties
  • Pick the Java Build Path
  • Libraries Tab
  • Open ""openkinect.jar and edit the entry Native Library Location: (None). Enter /Library/Java/Extensions/ as the new location.

Create a new Processing Applet

• Right-click on src under the project, in the Project Explorer window, and select Add New Class
• Call your class CloudPoint and accept all the defaults before closing.
• Paste in Shiffman's Point Cloud Processing example program (one of the 3 programs supplied in openkinect.zip), which have been slightly modified to work with Eclipse:

import org.openkinect.*;
import org.openkinect.processing.*;

import processing.core.PApplet;
import processing.core.PVector;


public class PointCloud extends PApplet {
	Kinect kinect;

	float a = 0;

	// Size of kinect image
	int w = 640;
	int h = 480;


	// We'll use a lookup table so that we don't have to repeat the math over and over
	float[] depthLookUp = new float[2048];

	public void setup() {
	  size(800,600,P3D);
	  kinect = new Kinect(this);
	  kinect.start();
	  kinect.enableDepth(true);
	  // We don't need the grayscale image in this example
	  // so this makes it more efficient
	  kinect.processDepthImage(false);

	  // Lookup table for all possible depth values (0 - 2047)
	  for (int i = 0; i < depthLookUp.length; i++) {
	    depthLookUp[i] = rawDepthToMeters(i);
	  }
	}

	public void draw() {

	  background(0);
	  fill(255);
	  textMode(SCREEN);
	  text("Kinect FR: " + (int)kinect.getDepthFPS() + "\nProcessing FR: " + (int)frameRate,10,16);

	  // Get the raw depth as array of integers
	  int[] depth = kinect.getRawDepth();

	  // We're just going to calculate and draw every 4th pixel (equivalent of 160x120)
	  int skip = 4;

	  // Translate and rotate
	  translate(width/2,height/2,-50);
	  rotateY(a);

	  for(int x=0; x<w; x+=skip) {
	    for(int y=0; y<h; y+=skip) {
	      int offset = x+y*w;

	      // Convert kinect data to world xyz coordinate
	      int rawDepth = depth[offset];
	      PVector v = depthToWorld(x,y,rawDepth);

	      stroke(255);
	      pushMatrix();
	      // Scale up by 200
	      float factor = 200;
	      translate(v.x*factor,v.y*factor,factor-v.z*factor);
	      // Draw a point
	      point(0,0);
	      popMatrix();
	    }
	  }

	  // Rotate
	  a += 0.015f;
	}

	// These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html
	float rawDepthToMeters(int depthValue) {
	  if (depthValue < 2047) {
	    return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161));
	  }
	  return 0.0f;
	}

	PVector depthToWorld(int x, int y, int depthValue) {

	  final double fx_d = 1.0 / 5.9421434211923247e+02;
	  final double fy_d = 1.0 / 5.9104053696870778e+02;
	  final double cx_d = 3.3930780975300314e+02;
	  final double cy_d = 2.4273913761751615e+02;

	  PVector result = new PVector();
	  double depth =  depthLookUp[depthValue];//rawDepthToMeters(depthValue);
	  result.x = (float)((x - cx_d) * depth * fx_d);
	  result.y = (float)((y - cy_d) * depth * fy_d);
	  result.z = (float)(depth);
	  return result;
	}

	public void stop() {
	  kinect.quit();
	  super.stop();
	}

	
}

Specify 32-bit processing

• The openkinect library is written for 32-bit system, which my Mac isn't. To force the compilation to stay in 32-bit mode, we just need to add the "-d32" flag to the project building command.
  • Pick Run Configurations from the Run menu,
  • In the Arguments Tab, select VM Arguments and enter "-d32"
  • Apply

Run!

• You should now be able to launch the program successfully: