小明编程[2012-10-10]此文章使用的多线程效果很不好，请大家使用微软例子中的waitForMultiObjects方法的内核事件方法。
这二天阅读新的SDK1.5的代码，由于要结合它弄人脸识别问题，所以必须把它的人脸追踪代码研读一下，虽然几经挫折，最终连蒙带猜还是弄出来了。至于怎么用，以及更细节的问题，大家需要自己阅读微软相关文章了。给一个微软相关网站地址点击打开链接。
下面是代码
VS2010+opencv2.3.1+Kinect SDK1.5
驱动什么的，大家自己安装，木有基础的同学先学好基础先。代码是基于我之前更新的SDK1.5基础之上的，如果不太懂，先看之前的文章~
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// win32_KinectFaceTracking.cpp : 定义控制台应用程序的入口点。 // #include "stdafx.h" //---------------------------------------------------- #define _WINDOWS #include <FaceTrackLib.h> HRESULT VisualizeFaceModel(IFTImage* pColorImg, IFTModel* pModel, FT_CAMERA_CONFIG const* pCameraConfig, FLOAT const* pSUCoef, FLOAT zoomFactor, POINT viewOffset, IFTResult* pAAMRlt, UINT32 color); //---------------------------------------------------- #include <vector> #include <deque> #include <iomanip> #include <stdexcept> #include <string> #include <iostream> #include "opencv2\opencv.hpp" using namespace std; using namespace cv; #include <windows.h> #include <mmsystem.h> #include <assert.h> #include <strsafe.h> #include "NuiApi.h" #define COLOR_WIDTH 640 #define COLOR_HIGHT 480 #define DEPTH_WIDTH 320 #define DEPTH_HIGHT 240 #define SKELETON_WIDTH 640 #define SKELETON_HIGHT 480 #define CHANNEL 3 BYTE buf[DEPTH_WIDTH*DEPTH_HIGHT*CHANNEL]; int drawColor(HANDLE h); int drawDepth(HANDLE h); int drawSkeleton(); //---face tracking------------------------------------------ BYTE *colorBuffer,*depthBuffer; IFTImage* pColorFrame; IFTImage* pDepthFrame; FT_VECTOR3D m_hint3D[2]; //----------------------------------------------------------------------------------- HANDLE h1; HANDLE h3; HANDLE h5; HANDLE h2; HANDLE h4; DWORD WINAPI VideoFunc(LPVOID pParam) { // cout<<"video start!"<<endl; while(TRUE) { if(WaitForSingleObject(h1,INFINITE)==WAIT_OBJECT_0) { drawColor(h2); } // Sleep(10); // cout<<"video"<<endl; } } DWORD WINAPI DepthFunc(LPVOID pParam) { // cout<<"depth start!"<<endl; while(TRUE) { if(WaitForSingleObject(h3,INFINITE)==WAIT_OBJECT_0) { drawDepth(h4); } // Sleep(10); // cout<<"depth"<<endl; } } DWORD WINAPI SkeletonFunc(LPVOID pParam) { // HANDLE h = (HANDLE)pParam; // cout<<"skeleton start!"<<endl; while(TRUE) { if(WaitForSingleObject(h3,INFINITE)==WAIT_OBJECT_0) drawSkeleton(); // Sleep(10); // cout<<"skeleton"<<endl; } } DWORD WINAPI TrackFace(LPVOID pParam) { cout<<"track face start !"<<endl; while(TRUE) { //do something Sleep(16); cout<<"track face"<<endl; } } //----------------------------------------------------------------------------------- int drawColor(HANDLE h) { const NUI_IMAGE_FRAME * pImageFrame = NULL; HRESULT hr = NuiImageStreamGetNextFrame( h, 0, &pImageFrame ); if( FAILED( hr ) ) { cout<<"Get Color Image Frame Failed"<<endl; return -1; } INuiFrameTexture * pTexture = pImageFrame->pFrameTexture; NUI_LOCKED_RECT LockedRect; pTexture->LockRect( 0, &LockedRect, NULL, 0 ); if( LockedRect.Pitch != 0 ) { BYTE * pBuffer = (BYTE*) LockedRect.pBits; colorBuffer = pBuffer; memcpy(pColorFrame->GetBuffer(), PBYTE(LockedRect.pBits), min(pColorFrame->GetBufferSize(), UINT(pTexture->BufferLen()))); Mat temp(COLOR_HIGHT,COLOR_WIDTH,CV_8UC4,pBuffer); imshow("b",temp); waitKey(1); } NuiImageStreamReleaseFrame( h, pImageFrame ); return 0; } int drawDepth(HANDLE h) { const NUI_IMAGE_FRAME * pImageFrame = NULL; HRESULT hr = NuiImageStreamGetNextFrame( h, 0, &pImageFrame ); if( FAILED( hr ) ) { cout<<"Get Depth Image Frame Failed"<<endl; return -1; } INuiFrameTexture * pTexture = pImageFrame->pFrameTexture; NUI_LOCKED_RECT LockedRect; pTexture->LockRect( 0, &LockedRect, NULL, 0 ); if( LockedRect.Pitch != 0 ) { USHORT * pBuff = (USHORT*) LockedRect.pBits; // depthBuffer = pBuff; memcpy(pDepthFrame->GetBuffer(), PBYTE(LockedRect.pBits), min(pDepthFrame->GetBufferSize(), UINT(pTexture->BufferLen()))); for(int i=0;i<DEPTH_WIDTH*DEPTH_HIGHT;i++) { BYTE index = pBuff[i]&0x07; USHORT realDepth = (pBuff[i]&0xFFF8)>>3; BYTE scale = 255 - (BYTE)(256*realDepth/0x0fff); buf[CHANNEL*i] = buf[CHANNEL*i+1] = buf[CHANNEL*i+2] = 0; switch( index ) { case 0: buf[CHANNEL*i]=scale/2; buf[CHANNEL*i+1]=scale/2; buf[CHANNEL*i+2]=scale/2; break; case 1: buf[CHANNEL*i]=scale; break; case 2: buf[CHANNEL*i+1]=scale; break; case 3: buf[CHANNEL*i+2]=scale; break; case 4: buf[CHANNEL*i]=scale; buf[CHANNEL*i+1]=scale; break; case 5: buf[CHANNEL*i]=scale; buf[CHANNEL*i+2]=scale; break; case 6: buf[CHANNEL*i+1]=scale; buf[CHANNEL*i+2]=scale; break; case 7: buf[CHANNEL*i]=255-scale/2; buf[CHANNEL*i+1]=255-scale/2; buf[CHANNEL*i+2]=255-scale/2; break; } } Mat b(DEPTH_HIGHT,DEPTH_WIDTH,CV_8UC3,buf); imshow("depth",b); waitKey(1); } NuiImageStreamReleaseFrame( h, pImageFrame ); return 0; } int drawSkeleton() { NUI_SKELETON_FRAME SkeletonFrame; cv::Point pt[20]; Mat skeletonMat=Mat(SKELETON_HIGHT,SKELETON_WIDTH,CV_8UC3,Scalar(0,0,0)); HRESULT hr = NuiSkeletonGetNextFrame( 0, &SkeletonFrame ); if( FAILED( hr ) ) { cout<<"Get Skeleton Image Frame Failed"<<endl; return -1; } bool bFoundSkeleton = false; for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ ) { if( SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED ) { bFoundSkeleton = true; } } // Has skeletons! if( bFoundSkeleton ) { NuiTransformSmooth(&SkeletonFrame,NULL); for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ ) { if( SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED ) { for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++) { float fx,fy; NuiTransformSkeletonToDepthImage( SkeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy ); pt[j].x = (int) ( fx * SKELETON_WIDTH )/320; pt[j].y = (int) ( fy * SKELETON_HIGHT )/240; circle(skeletonMat,pt[j],5,CV_RGB(255,0,0)); } cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HEAD],pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],pt[NUI_SKELETON_POSITION_SPINE],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SPINE],pt[NUI_SKELETON_POSITION_HIP_CENTER],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HAND_RIGHT],pt[NUI_SKELETON_POSITION_WRIST_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_WRIST_RIGHT],pt[NUI_SKELETON_POSITION_ELBOW_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ELBOW_RIGHT],pt[NUI_SKELETON_POSITION_SHOULDER_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_RIGHT],pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_CENTER],pt[NUI_SKELETON_POSITION_SHOULDER_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_SHOULDER_LEFT],pt[NUI_SKELETON_POSITION_ELBOW_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ELBOW_LEFT],pt[NUI_SKELETON_POSITION_WRIST_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_WRIST_LEFT],pt[NUI_SKELETON_POSITION_HAND_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_CENTER],pt[NUI_SKELETON_POSITION_HIP_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_RIGHT],pt[NUI_SKELETON_POSITION_KNEE_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_KNEE_RIGHT],pt[NUI_SKELETON_POSITION_ANKLE_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ANKLE_RIGHT],pt[NUI_SKELETON_POSITION_FOOT_RIGHT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_CENTER],pt[NUI_SKELETON_POSITION_HIP_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_HIP_LEFT],pt[NUI_SKELETON_POSITION_KNEE_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_KNEE_LEFT],pt[NUI_SKELETON_POSITION_ANKLE_LEFT],CV_RGB(0,255,0)); cv::line(skeletonMat,pt[NUI_SKELETON_POSITION_ANKLE_LEFT],pt[NUI_SKELETON_POSITION_FOOT_LEFT],CV_RGB(0,255,0)); m_hint3D[0].x=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_SHOULDER_CENTER].x; m_hint3D[0].y=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_SHOULDER_CENTER].y; m_hint3D[0].z=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_SHOULDER_CENTER].z; m_hint3D[1].x=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_HEAD].x; m_hint3D[1].y=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_HEAD].y; m_hint3D[1].z=SkeletonFrame.SkeletonData[i].SkeletonPositions[NUI_SKELETON_POSITION_HEAD].z; } } } imshow("skeleton",skeletonMat); waitKey(1); return 0; } int main(int argc,char * argv[]) { //初始化NUI HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX|NUI_INITIALIZE_FLAG_USES_COLOR|NUI_INITIALIZE_FLAG_USES_SKELETON); if( hr != S_OK ) { cout<<"NuiInitialize failed"<<endl; return hr; } //打开KINECT设备的彩色图信息通道 h1 = CreateEvent( NULL, TRUE, FALSE, NULL ); h2 = NULL; hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR,NUI_IMAGE_RESOLUTION_640x480, 0, 2, h1, &h2); if( FAILED( hr ) ) { cout<<"Could not open image stream video"<<endl; return hr; } h3 = CreateEvent( NULL, TRUE, FALSE, NULL ); h4 = NULL; hr = NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, 0, 2, h3, &h4); if( FAILED( hr ) ) { cout<<"Could not open depth stream video"<<endl; return hr; } h5 = CreateEvent( NULL, TRUE, FALSE, NULL ); hr = NuiSkeletonTrackingEnable( h5, 0 ); if( FAILED( hr ) ) { cout<<"Could not open skeleton stream video"<<endl; return hr; } HANDLE hThread1,hThread2,hThread3; hThread1 = CreateThread(NULL,0,VideoFunc,h2,0,NULL); hThread2 = CreateThread(NULL,0,DepthFunc,h4,0,NULL); hThread3 = CreateThread(NULL,0,SkeletonFunc,NULL,0,NULL); m_hint3D[0] = FT_VECTOR3D(0, 0, 0); m_hint3D[1] = FT_VECTOR3D(0, 0, 0); pColorFrame = FTCreateImage(); pDepthFrame = FTCreateImage(); IFTFaceTracker* pFT = FTCreateFaceTracker(); if(!pFT) { return -1;// Handle errors } FT_CAMERA_CONFIG myCameraConfig = {640, 480, NUI_CAMERA_COLOR_NOMINAL_FOCAL_LENGTH_IN_PIXELS}; // width, height, focal length FT_CAMERA_CONFIG depthConfig; depthConfig.FocalLength = NUI_CAMERA_DEPTH_NOMINAL_FOCAL_LENGTH_IN_PIXELS; depthConfig.Width = 320; depthConfig.Height = 240;//貌似这里一定要填，而且要填对才行！！ hr = pFT->Initialize(&myCameraConfig, &depthConfig, NULL, NULL); if( FAILED(hr) ) { return -2;// Handle errors } // Create IFTResult to hold a face tracking result IFTResult* pFTResult = NULL; hr = pFT->CreateFTResult(&pFTResult); if(FAILED(hr)) { return -11; } // prepare Image and SensorData for 640x480 RGB images if(!pColorFrame) { return -12;// Handle errors } // Attach assumes that the camera code provided by the application // is filling the buffer cameraFrameBuffer // pColorFrame->Attach(640, 480, colorBuffer, FTIMAGEFORMAT_UINT8_B8G8R8X8, 640*3); hr = pColorFrame->Allocate(640, 480, FTIMAGEFORMAT_UINT8_B8G8R8X8); if (FAILED(hr)) { return hr; } hr = pDepthFrame->Allocate(320, 240, FTIMAGEFORMAT_UINT16_D13P3); if (FAILED(hr)) { return hr; } FT_SENSOR_DATA sensorData; sensorData.pVideoFrame = pColorFrame; sensorData.pDepthFrame = pDepthFrame; sensorData.ZoomFactor = 1.0f; POINT point;point.x=0;point.y=0; sensorData.ViewOffset = point; bool isTracked = false; int iFaceTrackTimeCount=0; // Track a face while ( true ) { // Call your camera method to process IO and fill the camera buffer // cameraObj.ProcessIO(cameraFrameBuffer); // replace with your method if(!isTracked) { hr = pFT->StartTracking(&sensorData, NULL, m_hint3D, pFTResult); if(SUCCEEDED(hr) && SUCCEEDED(pFTResult->GetStatus())) { isTracked = true; } else { // Handle errors isTracked = false; } } else { // Continue tracking. It uses a previously known face position, // so it is an inexpensive call. hr = pFT->ContinueTracking(&sensorData, m_hint3D, pFTResult); if(FAILED(hr) || FAILED (pFTResult->GetStatus())) { // Handle errors isTracked = false; } } if(isTracked) {printf("被跟踪了！!!!!!!!!!!!!!!\n"); IFTModel* ftModel; HRESULT hr = pFT->GetFaceModel(&ftModel); FLOAT* pSU = NULL; UINT numSU; BOOL suConverged; pFT->GetShapeUnits(NULL, &pSU, &numSU, &suConverged); POINT viewOffset = {0, 0}; hr = VisualizeFaceModel(pColorFrame, ftModel, &myCameraConfig, pSU, 1.0, viewOffset, pFTResult, 0x00FFFF00); if(FAILED(hr)) printf("显示失败！！\n"); Mat tempMat(COLOR_HIGHT,COLOR_WIDTH,CV_8UC4,pColorFrame->GetBuffer()); imshow("faceTracking",tempMat); waitKey(1); } //printf("%d\n",pFTResult->GetStatus()); // Do something with pFTResult. Sleep(16); iFaceTrackTimeCount++; if(iFaceTrackTimeCount>16*1000) break; // Terminate on some criteria. } // Clean up. pFTResult->Release(); pColorFrame->Release(); pFT->Release(); CloseHandle(hThread1); CloseHandle(hThread2); CloseHandle(hThread3); Sleep(60000); NuiShutdown(); return 0; } HRESULT VisualizeFaceModel(IFTImage* pColorImg, IFTModel* pModel, FT_CAMERA_CONFIG const* pCameraConfig, FLOAT const* pSUCoef, FLOAT zoomFactor, POINT viewOffset, IFTResult* pAAMRlt, UINT32 color) { if (!pColorImg || !pModel || !pCameraConfig || !pSUCoef || !pAAMRlt) { return E_POINTER; } HRESULT hr = S_OK; UINT vertexCount = pModel->GetVertexCount(); FT_VECTOR2D* pPts2D = reinterpret_cast<FT_VECTOR2D*>(_malloca(sizeof(FT_VECTOR2D) * vertexCount)); if (pPts2D) { FLOAT *pAUs; UINT auCount; hr = pAAMRlt->GetAUCoefficients(&pAUs, &auCount); if (SUCCEEDED(hr)) { FLOAT scale, rotationXYZ[3], translationXYZ[3]; hr = pAAMRlt->Get3DPose(&scale, rotationXYZ, translationXYZ); if (SUCCEEDED(hr)) { hr = pModel->GetProjectedShape(pCameraConfig, zoomFactor, viewOffset, pSUCoef, pModel->GetSUCount(), pAUs, auCount, scale, rotationXYZ, translationXYZ, pPts2D, vertexCount); if (SUCCEEDED(hr)) { POINT* p3DMdl = reinterpret_cast<POINT*>(_malloca(sizeof(POINT) * vertexCount)); if (p3DMdl) { for (UINT i = 0; i < vertexCount; ++i) { p3DMdl[i].x = LONG(pPts2D[i].x + 0.5f); p3DMdl[i].y = LONG(pPts2D[i].y + 0.5f); } FT_TRIANGLE* pTriangles; UINT triangleCount; hr = pModel->GetTriangles(&pTriangles, &triangleCount); if (SUCCEEDED(hr)) { struct EdgeHashTable { UINT32* pEdges; UINT edgesAlloc; void Insert(int a, int b) { UINT32 v = (min(a, b) << 16) | max(a, b); UINT32 index = (v + (v << 8)) * 49157, i; for (i = 0; i < edgesAlloc - 1 && pEdges[(index + i) & (edgesAlloc - 1)] && v != pEdges[(index + i) & (edgesAlloc - 1)]; ++i) { } pEdges[(index + i) & (edgesAlloc - 1)] = v; } } eht; eht.edgesAlloc = 1 << UINT(log(2.f * (1 + vertexCount + triangleCount)) / log(2.f)); eht.pEdges = reinterpret_cast<UINT32*>(_malloca(sizeof(UINT32) * eht.edgesAlloc)); if (eht.pEdges) { ZeroMemory(eht.pEdges, sizeof(UINT32) * eht.edgesAlloc); for (UINT i = 0; i < triangleCount; ++i) { eht.Insert(pTriangles[i].i, pTriangles[i].j); eht.Insert(pTriangles[i].j, pTriangles[i].k); eht.Insert(pTriangles[i].k, pTriangles[i].i); } for (UINT i = 0; i < eht.edgesAlloc; ++i) { if(eht.pEdges[i] != 0) { pColorImg->DrawLine(p3DMdl[eht.pEdges[i] >> 16], p3DMdl[eht.pEdges[i] & 0xFFFF], color, 1); } } _freea(eht.pEdges); } // Render the face rect in magenta RECT rectFace; hr = pAAMRlt->GetFaceRect(&rectFace); if (SUCCEEDED(hr)) { POINT leftTop = {rectFace.left, rectFace.top}; POINT rightTop = {rectFace.right - 1, rectFace.top}; POINT leftBottom = {rectFace.left, rectFace.bottom - 1}; POINT rightBottom = {rectFace.right - 1, rectFace.bottom - 1}; UINT32 nColor = 0xff00ff; SUCCEEDED(hr = pColorImg->DrawLine(leftTop, rightTop, nColor, 1)) && SUCCEEDED(hr = pColorImg->DrawLine(rightTop, rightBottom, nColor, 1)) && SUCCEEDED(hr = pColorImg->DrawLine(rightBottom, leftBottom, nColor, 1)) && SUCCEEDED(hr = pColorImg->DrawLine(leftBottom, leftTop, nColor, 1)); } } _freea(p3DMdl); } else { hr = E_OUTOFMEMORY; } } } } _freea(pPts2D); } else { hr = E_OUTOFMEMORY; } return hr; } |
最后给个图片
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