【原创】Java获取Kinect V2视频流并保存图片到本地

最近公司接到一个关于Kinect的项目，就要用到Java获取Kinect的视频流，苦逼的我从来没搞过这东西，只能死坑研究，还好有bytedeco团队的github项目(https://github.com/bytedeco/javacpp-presets/tree/master/libfreenect2)，才让我脱离困境。结果我以为我做完了，其实是新的厄运的开始，这个库只支持x86的CPU架构，并不支持ARM64的CPU架构，因此我写的所有代码全部作废，也就可以给大家看看了，毕竟功能已经实现了，只是无法在客户到ARM64位平台上运行罢了，最终使用是Python解决的，当然Python这边的代码就不能给大家看啦（害我又多会了一门语言，(*^__^*) 嘻嘻……）

import org.bytedeco.javacpp.BytePointer;
import org.bytedeco.javacpp.Loader;
import org.bytedeco.libfreenect2.CpuPacketPipeline;
import org.bytedeco.libfreenect2.Frame;
import org.bytedeco.libfreenect2.FrameMap;
import org.bytedeco.libfreenect2.Freenect2;
import org.bytedeco.libfreenect2.Freenect2Device;
import org.bytedeco.libfreenect2.PacketPipeline;
import org.bytedeco.libfreenect2.SyncMultiFrameListener;

import java.awt.image.BufferedImage;
import java.awt.image.DataBufferByte;
import java.awt.image.Raster;
import java.io.File;
import java.io.IOException;
import java.nio.ByteBuffer;

import javax.imageio.ImageIO;

/**
 * Created by root on 2020/9/10.
 * Usage:
 */
public class KinectManager {
    public static int frameCount = 0;

    /**
     * Run Kinect and get rgb byte array, you can output this byteArray as image
     * Warning: one method must not be too long, or .so file will throw exception!!
     *
     * @param count frame count to run
     * @param onGetDataCallback on get rgb byte array
     */
    public void run(int count, OnGetDataCallback onGetDataCallback) {
        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();

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

        device = freenect2Context.openDevice(serial, pipeline);
        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());
        if (count == -1) {
            count = Integer.MAX_VALUE;
        }

        FrameMap frames = new FrameMap();
        for (int i = 0; i < count; 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);
            int width = (int) rgb.width();
            int height = (int) rgb.height();
            int totalByteOneFrame = (int) (width * height * rgb.bytes_per_pixel());
            System.out.println("RGB image, w:" + width + " " + height + " bytes_per_pixel is " + rgb.bytes_per_pixel() + " totalByteOneFrame is " + totalByteOneFrame);
            BytePointer data = rgb.data();
            // INFO: Dechert: 2020/9/10 Get all bytes into a byteBuffer in one frame
            ByteBuffer byteBuffer = data.position(0).limit(totalByteOneFrame).asByteBuffer();
            byte[] bgrxArray = new byte[totalByteOneFrame];
            // INFO: Dechert: 2020/9/10 Fetch all bytes into byte array
            byteBuffer.get(bgrxArray);
            byte[] rgbArray = getRgbArray(width, height, bgrxArray);
            onGetDataCallback.onGet(rgbArray);
            frameCount++;
            listener.release(frames);

        }
        device.stop();
        device.close();
    }

    public byte[] getRgbArray(int width, int height, byte[] bgrxArray) {
        int rgbLength = height * width * 3;
        byte[] rgbArray = new byte[rgbLength];
        int pixelIndex = 0;
        for (int bgrxIndex = 0; bgrxIndex < bgrxArray.length; bgrxIndex++) {
            int bgrx = bgrxIndex % 4;
            switch (bgrx) {
                case 0: {
                    byte blue = bgrxArray[bgrxIndex];
                    rgbArray[pixelIndex * 3 + 2] = blue;
                    break;
                }
                case 1: {
                    byte green = bgrxArray[bgrxIndex];
                    rgbArray[pixelIndex * 3 + 1] = green;
                    break;
                }
                case 2: {
                    byte red = bgrxArray[bgrxIndex];
                    rgbArray[pixelIndex * 3] = red;
                    break;
                }
                case 3: {
                    pixelIndex++;
                    break;
                }
            }
        }
        return rgbArray;
    }

    public void outputImage(byte[] bgrArray) {
        // INFO: Dechert: 2020/9/10 Set bgrArray into image
        BufferedImage image = new BufferedImage(1920, 1080, BufferedImage.TYPE_3BYTE_BGR);
        Raster raster = image.getRaster();
        DataBufferByte dataBuffer = (DataBufferByte) raster.getDataBuffer();
        ByteBuffer.wrap(dataBuffer.getData()).put(bgrArray);

        // INFO: Dechert: 2020/9/10 Output Kinect image
        try {
            long startWrite = System.currentTimeMillis();
            ImageIO.write(image, "jpeg", new File("/home/kinect/Temp/output2/image_" + System.currentTimeMillis() + ".jpeg"));
            long endWrite = System.currentTimeMillis();
            System.out.println("write time is " + (endWrite - startWrite));
        } catch (IOException e) {
            e.printStackTrace();
        }
    }
}

    public static void main(String[] args) {
        KinectManager kinectManager = new KinectManager();
        kinectManager.run(10, new OnGetDataCallback() {
            @Override
            public void onGet(byte[] rgbArray) {
                kinectManager.outputImage(rgbArray);
            }
        });
    }

要运行这段代码到前提是环境都已经准备好了，Kinect V2已经连接到电脑了。

注意：这个库有问题，一个方法中运行到时间不能太长，否则会报错。