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* Upgrade presets for librealsense2 2.40.0 and add display sample (p…
…ull #978)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,211 @@ | ||
| import javafx.application.Platform; | ||
| import javafx.scene.Scene; | ||
| import javafx.scene.image.ImageView; | ||
| import javafx.scene.image.PixelFormat; | ||
| import javafx.scene.image.WritableImage; | ||
| import javafx.scene.input.KeyEvent; | ||
| import javafx.scene.layout.StackPane; | ||
| import javafx.stage.Stage; | ||
|
|
||
| import java.nio.ByteBuffer; | ||
| import java.util.concurrent.ArrayBlockingQueue; | ||
| import java.util.concurrent.TimeUnit; | ||
| import java.util.ArrayList; | ||
|
|
||
| import org.bytedeco.opencv.global.opencv_imgproc; | ||
| import org.bytedeco.opencv.opencv_core.Mat; | ||
|
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|
|
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| public class OpenCVFX { | ||
| private final static ArrayList<ImShowThread> list = new ArrayList<>(); | ||
|
|
||
| public static void imshow(String name, Mat mat) { | ||
| if (mat.channels() == 1) opencv_imgproc.cvtColor(mat, mat, opencv_imgproc.COLOR_GRAY2BGR); | ||
| opencv_imgproc.cvtColor(mat, mat, opencv_imgproc.COLOR_BGR2RGB); | ||
| byte[] data = new byte[mat.cols() * mat.rows() * mat.channels()]; | ||
| mat.data().get(data, 0, data.length); | ||
| imshow(name, data, mat.cols(), mat.rows()); | ||
| } | ||
|
|
||
| public static void imshow(String name, byte[] data, int width, int height) { | ||
| if (data.length != width * height * 3) { | ||
| System.err.println("error: imshow() data length must be [width * height * 3]"); | ||
| return; | ||
| } | ||
| synchronized (list) { | ||
| for (ImShowThread im : list) { | ||
| if (im.getName().equals(name)) { | ||
| im.addImage(data, 0, data.length, width, height); | ||
| return; | ||
| } | ||
| } | ||
| ImShowThread im = new ImShowThread(name); | ||
| im.start(); | ||
| list.add(im); | ||
| im.addImage(data, 0, data.length, width, height); | ||
| } | ||
| } | ||
|
|
||
| public static int waitKey() { | ||
| synchronized (list) { | ||
| for (ImShowThread im : list) { | ||
| int key = im.getKey(); | ||
| if (key != -1) { | ||
| return key; | ||
| } | ||
| } | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| public static void destroyAllWindows() { | ||
| synchronized (list) { | ||
| for (int i = 0; i < list.size(); ++i) { | ||
| list.get(i).setDestroyAllWindows((i+1)==list.size()); | ||
| list.get(i).stop(); | ||
| } | ||
| list.clear(); | ||
| } | ||
| } | ||
|
|
||
|
|
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| static class ImShowThread implements Runnable { | ||
| private final String window_name; | ||
| private boolean loopFlag = true; | ||
| private final Thread thread = new Thread(this); | ||
| private static final int maxQueueSize = 3; | ||
| private final ArrayBlockingQueue<Cls> queue = new ArrayBlockingQueue<>(maxQueueSize); | ||
| private boolean isLaunch = false; | ||
| private boolean destroyAllWindows = true; | ||
| private Stage tmpStage = null; | ||
| private int keyCode; | ||
|
|
||
| public ImShowThread(String name) { | ||
| this.window_name = name; | ||
| } | ||
|
|
||
| public void start() { | ||
| this.thread.start(); | ||
| } | ||
|
|
||
| public void stop() { | ||
| this.loopFlag = false; | ||
| try { | ||
| this.thread.interrupt(); | ||
| this.thread.join(); | ||
| } catch (InterruptedException e) { | ||
| e.printStackTrace(); | ||
| } | ||
| } | ||
|
|
||
| public String getName() { | ||
| return this.window_name; | ||
| } | ||
|
|
||
| public void setDestroyAllWindows(boolean flag) { | ||
| this.destroyAllWindows = flag; | ||
| } | ||
|
|
||
| public void addImage(byte[] data, int offset, int length, int width, int height) { | ||
| Cls cls = new Cls(); | ||
| cls.data = new byte[length - offset]; | ||
| ByteBuffer.wrap(data, offset, length).get(cls.data, 0, cls.data.length); | ||
| cls.width = width; | ||
| cls.height = height; | ||
| while (this.queue.size() >= maxQueueSize) { | ||
| this.queue.poll(); | ||
| } | ||
| try { | ||
| this.queue.offer(cls, 10, TimeUnit.MILLISECONDS); | ||
| } catch (InterruptedException e) { | ||
| System.out.println(String.format("warn %s:%s", e.getClass().getSimpleName(), e.getMessage())); | ||
| } | ||
| } | ||
|
|
||
| public int getKey() { | ||
| int result = this.keyCode; | ||
| this.keyCode = -1; | ||
| return result; | ||
| } | ||
|
|
||
| @Override | ||
| public void run() { | ||
| ImageView imageView = new ImageView(); | ||
| WritableImage writableImage = new WritableImage(1, 1); | ||
| int width = 1; | ||
| int height = 1; | ||
| PixelFormat<ByteBuffer> pf = PixelFormat.getByteRgbInstance(); | ||
| while (this.loopFlag) { | ||
| Cls cls; | ||
| try { | ||
| cls = this.queue.poll(50, TimeUnit.MILLISECONDS); | ||
| } catch (InterruptedException e) { | ||
| sleep(30); | ||
| continue; | ||
| } | ||
| if (cls == null) { | ||
| sleep(30); | ||
| continue; | ||
| } | ||
| if (!this.isLaunch || width != cls.width || height != cls.height) { | ||
| try { | ||
| Platform.startup(() -> launchFxWindow(imageView, cls.width, cls.height, this.window_name)); | ||
| } catch (IllegalStateException ise) { | ||
| System.out.println(String.format("warn %s:%s", ise.getClass().getSimpleName(), ise.getMessage())); | ||
| launchFxWindow(imageView, cls.width, cls.height, this.window_name); | ||
| } | ||
| width = cls.width; | ||
| height = cls.height; | ||
| writableImage = new WritableImage(width, height); | ||
| } | ||
| while (!this.isLaunch) { | ||
| sleep(100); | ||
| } | ||
|
|
||
| writableImage.getPixelWriter().setPixels(0, 0, width, height, pf, cls.data, 0, width * 3); | ||
| imageView.setImage(writableImage); | ||
| } | ||
| if (this.destroyAllWindows) { | ||
| Platform.runLater(Platform::exit); | ||
| } | ||
| } | ||
|
|
||
| private void sleep(long ms) { | ||
| try { | ||
| Thread.sleep(ms); | ||
| } catch (InterruptedException ignored) { | ||
| } | ||
| } | ||
|
|
||
| private void launchFxWindow(ImageView iv, int w, int h, String name) { | ||
| Platform.runLater(() -> { | ||
| Scene scene = new Scene(new StackPane(iv), w, h); | ||
| Stage stage = new Stage(); | ||
| stage.setTitle(name); | ||
| stage.showingProperty().addListener((obs, ov, nv) -> { | ||
| if (ov && !nv) { | ||
| this.isLaunch = false; | ||
| this.tmpStage = new Stage(); | ||
| this.tmpStage.setScene(new Scene(new StackPane(), 1, 1)); | ||
| this.tmpStage.show(); | ||
| } | ||
| }); | ||
| scene.addEventFilter(KeyEvent.KEY_PRESSED, keyEvent -> this.keyCode = keyEvent.getCode().getCode()); | ||
| stage.setScene(scene); | ||
| stage.show(); | ||
| if (this.tmpStage != null && this.tmpStage.isShowing()) { | ||
| this.tmpStage.close(); | ||
| } | ||
| this.isLaunch = true; | ||
| }); | ||
| } | ||
|
|
||
| static class Cls { | ||
| byte[] data; | ||
| int width; | ||
| int height; | ||
| } | ||
|
|
||
| } | ||
|
|
||
| } |
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