kinecttcpclient
Class KinectTCPClient

java.lang.Object
  java.lang.Thread
      kinecttcpclient.KinectTCPClient

All Implemented Interfaces:

java.lang.Runnable

public class KinectTCPClient
extends java.lang.Thread

KinectTCPClient contains all methods needed to communicate with a KinectTCP server. It implements all commands defined in the documentation of KinectTCP. For more detailed information, please see documentation of kinectTCP on https://sites.google.com/a/temple.edu/kinecttcp/

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

int	audioAmplitude
static int	CMD_ENABLEDEPTHXYZINDEX
static int	CMD_GETDEPTHMODE
static int	CMD_GETRGBMODE
static int	CMD_HELLO
static int	CMD_INITDEPTH320X240
static int	CMD_INITDEPTH640X480
static int	CMD_INITDEPTH80X60
static int	CMD_INITRGB1280X1024
static int	CMD_INITRGB640X480
static int	CMD_NODEPTH
static int	CMD_NORGB
static int	CMD_NUMDEVICES
static int	CMD_READDEPTH
static int	CMD_READDEPTHRGB
static int	CMD_READDEPTHXYZ
static int	CMD_READDEPTHXYZRGB
static int	CMD_READRGB
static int	CMD_READSKELETON
static int	CMD_STARTKINECT
static int	CMD_STARTKINECTDEFAULT
static int	CMD_STREAMAUDIOSTART
static int	CMD_STREAMAUDIOSTOP
long	timestamp

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

KinectTCPClient()
Default constructor, connects to localhost, port 8001

KinectTCPClient(java.lang.String ipaddress, int port)
Constructor, creates socket connection

Method Summary

int	enableDepthXYZIndex() Send command: enableDepthXYZIndex
int	getDepthMode() Send command: getDepthMode
static int[][]	getJointPositions(int[] skel, int skelIndex) getJointPositions: convenience routine to extract joints from skeleton data
int	getRGBMode() Send command: getRGBMode.
int	initDepth(int resX) Send command: initDepth
int	initRGB(int resX) Send command: initRGB
int[]	readDataFromCommunactionChannel(int channel) MULTIBYTECOMMAND: read data from communication channel
int[][]	readDepth() Read Depth Image.
int[][]	readDepthXYZ() Read Depth Point Cloud.
int[][]	readDepthXYZIndex() command: READ DepthXYZIndex.
int[]	readRGBImage() command: READ RGB
int[]	readSkeleton() Command Read Skeleton.
void	run() start routine for thread.
int	sayHello() Send command: Hello.
int	startKinect(boolean deflt) Send command: start kinectTCP
void	stopAudio() Command to stop audio streaming.
void	streamAudio() Stream Audio: an example method for audio handling.
static void	writeArrayToASCIIFile(int[] data, java.lang.String filename) for debugging: write 1D array to a data file
int	writeDataToCommunactionChannel(int channel, byte[] data) MULTIBYTECOMMAND: write to communication channel

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

timestamp

public long timestamp

audioAmplitude

public int audioAmplitude

CMD_HELLO

public static int CMD_HELLO

CMD_NUMDEVICES

public static int CMD_NUMDEVICES

CMD_STARTKINECT

public static int CMD_STARTKINECT

CMD_STARTKINECTDEFAULT

public static int CMD_STARTKINECTDEFAULT

CMD_ENABLEDEPTHXYZINDEX

public static int CMD_ENABLEDEPTHXYZINDEX

CMD_INITRGB640X480

public static int CMD_INITRGB640X480

CMD_INITRGB1280X1024

public static int CMD_INITRGB1280X1024

CMD_GETRGBMODE

public static int CMD_GETRGBMODE

CMD_INITDEPTH80X60

public static int CMD_INITDEPTH80X60

CMD_INITDEPTH320X240

public static int CMD_INITDEPTH320X240

CMD_INITDEPTH640X480

public static int CMD_INITDEPTH640X480

CMD_GETDEPTHMODE

public static int CMD_GETDEPTHMODE

CMD_NORGB

public static int CMD_NORGB

CMD_NODEPTH

public static int CMD_NODEPTH

CMD_READRGB

public static int CMD_READRGB

CMD_READDEPTH

public static int CMD_READDEPTH

CMD_READDEPTHXYZ

public static int CMD_READDEPTHXYZ

CMD_READDEPTHRGB

public static int CMD_READDEPTHRGB

CMD_READDEPTHXYZRGB

public static int CMD_READDEPTHXYZRGB

CMD_READSKELETON

public static int CMD_READSKELETON

CMD_STREAMAUDIOSTART

public static int CMD_STREAMAUDIOSTART

CMD_STREAMAUDIOSTOP

public static int CMD_STREAMAUDIOSTOP

Constructor Detail

KinectTCPClient

public KinectTCPClient(java.lang.String ipaddress,
                       int port)

Constructor, creates socket connection

Parameters:

ipaddress: - ipaddress of kinectTCP server (kinectTCP server displays its ip-address)

port: - port of kinectTCP server (kinectTCP server displays its port).

KinectTCPClient

public KinectTCPClient()

Default constructor, connects to localhost, port 8001

Method Detail

run

public void run()

start routine for thread. In case the client is used as audio client, this routine will start the audio streaming

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread

sayHello

public int sayHello()

Send command: Hello.

Returns:

Answers (int) from server. KinectTCP defines a valid answer as "214" (= -42).

getRGBMode

public int getRGBMode()

Send command: getRGBMode.

Returns:

0 = noRGB, 3 = 640x480, 4 = 1280x1024

getDepthMode

public int getDepthMode()

Send command: getDepthMode

Returns:

0 = no depth, 1 = 80x60, 2= 320x240, 3=640x480

enableDepthXYZIndex

public int enableDepthXYZIndex()

Send command: enableDepthXYZIndex

Returns:

1 if successful, 0 otherwise.

initRGB

public int initRGB(int resX)

Send command: initRGB

Parameters:

resX= - 640 | 1280 | 0

Returns:

1 if successful, 0 otherwise. A "0" would be returned from kinectTCP if the server is already initialized/started.

initDepth

public int initDepth(int resX)

Send command: initDepth

Parameters:

resX= - 640 | 320 | 80 | 0

Returns:

1 if successful, 0 otherwise. A "0" would be returned from kinectTCP if the server is already initialized/started.

startKinect

public int startKinect(boolean deflt)

Send command: start kinectTCP

Parameters:

deflt - (boolean), true: starts kinectTCP with default settings, otherwise kinectTCP will be started with settings submitted by initDepth and initRGB

Returns:

1 on success, 0 otherwise

readDepth

public int[][] readDepth()

Read Depth Image.

Returns:

Returns a 2D array. First dimension contains distance, second dimension contains player index.

readDepthXYZ

public int[][] readDepthXYZ()

Read Depth Point Cloud. kinectTCP only submits points which have a valid distance (>0), hence the returned data stream has varying size. This is the point cloud WITHOUT player index. For index see readDepthXYZIndex().

Returns:

2D array of point coordinates. [][0-2] = x,y,z

readDepthXYZIndex

public int[][] readDepthXYZIndex()

command: READ DepthXYZIndex. depth as point cloud. attention! this enables the index-reading (command 4), yet does NOT disable it!

Returns:

2D array, depth in [][0-2] = x,y,z, index in [][3]

readRGBImage

public int[] readRGBImage()

command: READ RGB

Returns:

rgb as color image, alpha value = 0xff

readSkeleton

public int[] readSkeleton()

Command Read Skeleton. Usually followed by "get joint positions" for more convenient access.

Returns:

raw skeleton data int[]. See documentation of kinectTCP.

getJointPositions

public static int[][] getJointPositions(int[] skel,
                                        int skelIndex)

getJointPositions: convenience routine to extract joints from skeleton data

Parameters:

skel: - skeleton data array, as obtained from readSkeleton()

skelIndex: - index of skeleton (1 or 2)

Returns:

streamAudio

public void streamAudio()

Stream Audio: an example method for audio handling. Opens a JFrame and shows the amplitude of the audio data. This method is called by the 'run()' method of the thread.

stopAudio

public void stopAudio()

Command to stop audio streaming.

writeDataToCommunactionChannel

public int writeDataToCommunactionChannel(int channel,
                                          byte[] data)

MULTIBYTECOMMAND: write to communication channel

Parameters:

channel - (int, 0..9)

data - (byte[], max. length: 65535)

Returns:

1 on success, 0 otherwise.

readDataFromCommunactionChannel

public int[] readDataFromCommunactionChannel(int channel)

MULTIBYTECOMMAND: read data from communication channel

Parameters:

channel - (int, 0..9)

Returns:

int[] data, or null if not successful.

writeArrayToASCIIFile

public static void writeArrayToASCIIFile(int[] data,
                                         java.lang.String filename)

for debugging: write 1D array to a data file

Parameters:

data - int[]

filename -