Upgrade librealsense2 to 2.40.0

CHANGELOG.md

@@ -1,4 +1,5 @@
 
+ * Add display sample for librealsense2 ([pull #978](https://github.com/bytedeco/javacpp-presets/pull/978))
  * Fix builds for libpostal on Mac and Windows ([issue #903](https://github.com/bytedeco/javacpp-presets/issues/903))
  * Fix builds for NumPy and SciPy on Linux when using a cross compiler or not
  * Update presets for Visual Studio 2019 on Windows
@@ -8,7 +9,7 @@
  * Disable assembly optimizations for libx264 with FFmpeg on Mac to work around crashes ([issue bytedeco/javacv#1519](https://github.com/bytedeco/javacv/issues/1519))
  * Add `linux-armhf` and `linux-arm64` builds for librealsense and librealsense2 ([pull #951](https://github.com/bytedeco/javacpp-presets/pull/951))
  * License default builds of FFmpeg under LGPL v3 and move GPL-enabled builds to `-gpl` extension ([pull #950](https://github.com/bytedeco/javacpp-presets/pull/950))
- * Upgrade presets for OpenCV 4.5.0, Arrow 2.0.0, MKL 2020.4, OpenBLAS 0.3.12, librealsense2 2.38.1 ([pull #946](https://github.com/bytedeco/javacpp-presets/pull/946)), DNNL 1.7, NumPy 1.19.4, SciPy 1.5.4, Gym 0.17.3, LLVM 11.0.0 ([pull #955](https://github.com/bytedeco/javacpp-presets/pull/955)), CUDA 11.1.1, cuDNN 8.0.4, TensorFlow 1.15.4, TensorRT 7.2.1.6, ONNX 1.8.0, ONNX Runtime 1.5.3, Qt 5.15.1, Skia 2.80.2, cpu_features 0.6.0, and their dependencies
+ * Upgrade presets for OpenCV 4.5.0, Arrow 2.0.0, MKL 2020.4, OpenBLAS 0.3.12, librealsense2 2.40.0 ([pull #946](https://github.com/bytedeco/javacpp-presets/pull/946)), DNNL 1.7, NumPy 1.19.4, SciPy 1.5.4, Gym 0.17.3, LLVM 11.0.0 ([pull #955](https://github.com/bytedeco/javacpp-presets/pull/955)), CUDA 11.1.1, cuDNN 8.0.4, TensorFlow 1.15.4, TensorRT 7.2.1.6, ONNX 1.8.0, ONNX Runtime 1.5.3, Qt 5.15.1, Skia 2.80.2, cpu_features 0.6.0, and their dependencies
 
 ### September 9, 2020 version 1.5.4
  * Bundle `libpostal_data` program, executable via `Loader.load()` for convenience ([issue #939](https://github.com/bytedeco/javacpp-presets/issues/939))

librealsense2/README.md

@@ -5,7 +5,7 @@ Introduction
 ------------
 This directory contains the JavaCPP Presets module for:
 
- * librealsense2 2.38.1  https://github.com/IntelRealSense/librealsense
+ * librealsense2 2.40.0  https://github.com/IntelRealSense/librealsense
 
 Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.
 
@@ -25,7 +25,7 @@ Here is a simple example of librealsense2 ported to Java from this C source file
 
  * https://github.com/IntelRealSense/librealsense/blob/master/examples/C/distance/rs-distance.c
 
-We can use [Maven 3](http://maven.apache.org/) to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the `pom.xml` and `TestConnection.java` source files below, simply execute on the command line:
+We can use [Maven 3](http://maven.apache.org/) to download and install automatically all the class files as well as the native binaries. To run this sample code, after creating the `pom.xml` and `RsDistance.java` source files below, simply execute on the command line:
 ```bash
  $ mvn compile exec:java
 ```
@@ -44,7 +44,7 @@ We can use [Maven 3](http://maven.apache.org/) to download and install automatic
         <dependency>
             <groupId>org.bytedeco</groupId>
             <artifactId>librealsense2-platform</artifactId>
-            <version>2.38.1-1.5.5-SNAPSHOT</version>
+            <version>2.40.0-1.5.5-SNAPSHOT</version>
         </dependency>
     </dependencies>
     <build>

librealsense2/cppbuild.sh

@@ -7,7 +7,7 @@ if [[ -z "$PLATFORM" ]]; then
     exit
 fi
 
-LIBREALSENSE2_VERSION=2.38.1
+LIBREALSENSE2_VERSION=2.40.0
 LIBUSB_VERSION=1.0.22
 download https://github.com/IntelRealSense/librealsense/archive/v$LIBREALSENSE2_VERSION.tar.gz librealsense-$LIBREALSENSE2_VERSION.tar.gz
 download http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-$LIBUSB_VERSION/libusb-$LIBUSB_VERSION.tar.bz2/download libusb-$LIBUSB_VERSION.tar.bz2

librealsense2/platform/pom.xml

@@ -12,7 +12,7 @@
 
   <groupId>org.bytedeco</groupId>
   <artifactId>librealsense2-platform</artifactId>
-  <version>2.38.1-${project.parent.version}</version>
+  <version>2.40.0-${project.parent.version}</version>
   <name>JavaCPP Presets Platform for librealsense2</name>
 
   <properties>

librealsense2/pom.xml

@@ -11,7 +11,7 @@
 
   <groupId>org.bytedeco</groupId>
   <artifactId>librealsense2</artifactId>
-  <version>2.38.1-${project.parent.version}</version>
+  <version>2.40.0-${project.parent.version}</version>
   <name>JavaCPP Presets for librealsense2</name>
 
   <dependencies>

librealsense2/samples/display/OpenCVFX.java

@@ -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;
+
+
+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();
+        }
+    }
+
+
+    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;
+        }
+
+    }
+
+}