runtime library - Page 586

Getting a NullPointerException at seemingly random intervals, not sure why

- by Miles

I'm running an example from a Kinect library for Processing (http://www.shiffman.net/2010/11/14/kinect-and-processing/) and sometimes get a NullPointerException pointing to this line: int rawDepth = depth[offset]; The depth array is created in this line: int[] depth = kinect.getRawDepth(); I'm not exactly sure what a NullPointerException is, and much googling hasn't really helped. It seems odd to me that the code compiles 70% of the time and returns the error unpredictably. Could the hardware itself be affecting it? Here's the whole example if it helps: // Daniel Shiffman // Kinect Point Cloud example // http://www.shiffman.net // https://github.com/shiffman/libfreenect/tree/master/wrappers/java/processing import org.openkinect.*; import org.openkinect.processing.*; // Kinect Library object Kinect kinect; float a = 0; // Size of kinect image int w = 640; int h = 480; // We'll use a lookup table so that we don't have to repeat the math over and over float[] depthLookUp = new float[2048]; void setup() { size(800,600,P3D); kinect = new Kinect(this); kinect.start(); kinect.enableDepth(true); // We don't need the grayscale image in this example // so this makes it more efficient kinect.processDepthImage(false); // Lookup table for all possible depth values (0 - 2047) for (int i = 0; i < depthLookUp.length; i++) { depthLookUp[i] = rawDepthToMeters(i); } } void draw() { background(0); fill(255); textMode(SCREEN); text("Kinect FR: " + (int)kinect.getDepthFPS() + "\nProcessing FR: " + (int)frameRate,10,16); // Get the raw depth as array of integers int[] depth = kinect.getRawDepth(); // We're just going to calculate and draw every 4th pixel (equivalent of 160x120) int skip = 4; // Translate and rotate translate(width/2,height/2,-50); rotateY(a); for(int x=0; x<w; x+=skip) { for(int y=0; y<h; y+=skip) { int offset = x+y*w; // Convert kinect data to world xyz coordinate int rawDepth = depth[offset]; PVector v = depthToWorld(x,y,rawDepth); stroke(255); pushMatrix(); // Scale up by 200 float factor = 200; translate(v.x*factor,v.y*factor,factor-v.z*factor); // Draw a point point(0,0); popMatrix(); } } // Rotate a += 0.015f; } // These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html float rawDepthToMeters(int depthValue) { if (depthValue < 2047) { return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161)); } return 0.0f; } PVector depthToWorld(int x, int y, int depthValue) { final double fx_d = 1.0 / 5.9421434211923247e+02; final double fy_d = 1.0 / 5.9104053696870778e+02; final double cx_d = 3.3930780975300314e+02; final double cy_d = 2.4273913761751615e+02; PVector result = new PVector(); double depth = depthLookUp[depthValue];//rawDepthToMeters(depthValue); result.x = (float)((x - cx_d) * depth * fx_d); result.y = (float)((y - cy_d) * depth * fy_d); result.z = (float)(depth); return result; } void stop() { kinect.quit(); super.stop(); } And here are the errors: processing.app.debug.RunnerException: NullPointerException at processing.app.Sketch.placeException(Sketch.java:1543) at processing.app.debug.Runner.findException(Runner.java:583) at processing.app.debug.Runner.reportException(Runner.java:558) at processing.app.debug.Runner.exception(Runner.java:498) at processing.app.debug.EventThread.exceptionEvent(EventThread.java:367) at processing.app.debug.EventThread.handleEvent(EventThread.java:255) at processing.app.debug.EventThread.run(EventThread.java:89) Exception in thread "Animation Thread" java.lang.NullPointerException at org.openkinect.processing.Kinect.enableDepth(Kinect.java:70) at PointCloud.setup(PointCloud.java:48) at processing.core.PApplet.handleDraw(PApplet.java:1583) at processing.core.PApplet.run(PApplet.java:1503) at java.lang.Thread.run(Thread.java:637)

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