Build status for all platforms: 
Commercial support:
This directory contains the JavaCPP Presets module for:
- librealsense2 2.50.0 https://github.com/IntelRealSense/librealsense
Please refer to the parent README.md file for more detailed information about the JavaCPP Presets.
Java API documentation is available here:
∗ Bindings are currently available only for the C API of librealsense2.
Here is a simple example of librealsense2 ported to Java from this C source file:
We can use Maven 3 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:
$ mvn compile exec:java<project>
<modelVersion>4.0.0</modelVersion>
<groupId>org.bytedeco.librealsense2</groupId>
<artifactId>rsdistance</artifactId>
<version>1.5.8</version>
<properties>
<exec.mainClass>RsDistance</exec.mainClass>
</properties>
<dependencies>
<dependency>
<groupId>org.bytedeco</groupId>
<artifactId>librealsense2-platform</artifactId>
<version>2.50.0-1.5.8</version>
</dependency>
</dependencies>
<build>
<sourceDirectory>.</sourceDirectory>
</build>
</project>// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
/* Include the librealsense C header files */
import org.bytedeco.javacpp.*;
import org.bytedeco.librealsense2.*;
import static org.bytedeco.librealsense2.global.realsense2.*;
public class RsDistance {
/* Function calls to librealsense may raise errors of type rs_error*/
static void check_error(rs2_error e) {
if (!e.isNull()) {
System.out.printf("rs_error was raised when calling %s(%s):\n", rs2_get_failed_function(e), rs2_get_failed_args(e));
System.out.printf(" %s\n", rs2_get_error_message(e));
System.exit(1);
}
}
static void print_device_info(rs2_device dev) {
rs2_error e = new rs2_error();
System.out.printf("\nUsing device 0, an %s\n", rs2_get_device_info(dev, RS2_CAMERA_INFO_NAME, e));
check_error(e);
System.out.printf(" Serial number: %s\n", rs2_get_device_info(dev, RS2_CAMERA_INFO_SERIAL_NUMBER, e));
check_error(e);
System.out.printf(" Firmware version: %s\n\n", rs2_get_device_info(dev, RS2_CAMERA_INFO_FIRMWARE_VERSION, e));
check_error(e);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// These parameters are reconfigurable //
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static int STREAM = RS2_STREAM_DEPTH; // rs2_stream is a types of data provided by RealSense device //
static int FORMAT = RS2_FORMAT_Z16; // rs2_format is identifies how binary data is encoded within a frame //
static int WIDTH = 640; // Defines the number of columns for each frame or zero for auto resolve//
static int HEIGHT = 0; // Defines the number of lines for each frame or zero for auto resolve //
static int FPS = 30; // Defines the rate of frames per second //
static int STREAM_INDEX = 0; // Defines the stream index, used for multiple streams of the same type //
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public static void main(String[] args) {
rs2_error e = new rs2_error();
// Create a context object. This object owns the handles to all connected realsense devices.
// The returned object should be released with rs2_delete_context(...)
rs2_context ctx = rs2_create_context(RS2_API_VERSION, e);
check_error(e);
/* Get a list of all the connected devices. */
// The returned object should be released with rs2_delete_device_list(...)
rs2_device_list device_list = rs2_query_devices(ctx, e);
check_error(e);
int dev_count = rs2_get_device_count(device_list, e);
check_error(e);
System.out.printf("There are %d connected RealSense devices.\n", dev_count);
if (0 == dev_count)
System.exit(1);
// Get the first connected device
// The returned object should be released with rs2_delete_device(...)
rs2_device dev = rs2_create_device(device_list, 0, e);
check_error(e);
print_device_info(dev);
// Create a pipeline to configure, start and stop camera streaming
// The returned object should be released with rs2_delete_pipeline(...)
rs2_pipeline pipeline = rs2_create_pipeline(ctx, e);
check_error(e);
// Create a config instance, used to specify hardware configuration
// The retunred object should be released with rs2_delete_config(...)
rs2_config config = rs2_create_config(e);
check_error(e);
// Request a specific configuration
rs2_config_enable_stream(config, STREAM, STREAM_INDEX, WIDTH, HEIGHT, FORMAT, FPS, e);
check_error(e);
// Start the pipeline streaming
// The retunred object should be released with rs2_delete_pipeline_profile(...)
rs2_pipeline_profile pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, e);
if (!e.isNull()) {
System.out.printf("The connected device doesn't support depth streaming!\n");
System.exit(1);
}
while (e.isNull()) {
// This call waits until a new composite_frame is available
// composite_frame holds a set of frames. It is used to prevent frame drops
// The returned object should be released with rs2_release_frame(...)
rs2_frame frames = rs2_pipeline_wait_for_frames(pipeline, RS2_DEFAULT_TIMEOUT, e);
check_error(e);
// Returns the number of frames embedded within the composite frame
int num_of_frames = rs2_embedded_frames_count(frames, e);
check_error(e);
for (int i = 0; i < num_of_frames; ++i) {
// The retunred object should be released with rs2_release_frame(...)
rs2_frame frame = rs2_extract_frame(frames, i, e);
check_error(e);
// Check if the given frame can be extended to depth frame interface
// Accept only depth frames and skip other frames
if (0 == rs2_is_frame_extendable_to(frame, RS2_EXTENSION_DEPTH_FRAME, e))
continue;
// Get the depth frame's dimensions
int width = rs2_get_frame_width(frame, e);
check_error(e);
int height = rs2_get_frame_height(frame, e);
check_error(e);
// Query the distance from the camera to the object in the center of the image
float dist_to_center = rs2_depth_frame_get_distance(frame, width / 2, height / 2, e);
check_error(e);
// Print the distance
System.out.printf("The camera is facing an object %.3f meters away.\n", dist_to_center);
rs2_release_frame(frame);
}
rs2_release_frame(frames);
}
// Stop the pipeline streaming
rs2_pipeline_stop(pipeline, e);
check_error(e);
// Release resources
rs2_delete_pipeline_profile(pipeline_profile);
rs2_delete_config(config);
rs2_delete_pipeline(pipeline);
rs2_delete_device(dev);
rs2_delete_device_list(device_list);
rs2_delete_context(ctx);
System.exit(0);
}
}