kinect sdk 1.5 face tracking --- 使用opencv显示后的超级简化版本

Kinect SDK 1.5 Face Tracking - 使用 opencv 显示后的 超级简化版本 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 /guoming0000/article/details/7607473 免积分下载 VS2010 项目源码地址 / win32_KinectFaceTracking.cpp : 定义控制台应用程序的入口点。 / #include “stdafx.h“ /- #define _WINDOWS #include HRESULT VisualizeFaceModel(IFTImage* pColorImg, IFTModel* pModel, FT_CAMERA_CONFIG const* pCameraConfig, FLOAT const* pSUCoef, FLOAT zoomFactor, POINT viewOffset, IFTResult* pAAMRlt, UINT32 color); /- #include #include #include #include #include #include #include “opencv2opencv.hpp“ using namespace std; using namespace cv; #include #include #include #include #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 bufDEPTH_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_hint3D2; /- HANDLE h1; HANDLE h3; HANDLE h5; HANDLE h2; HANDLE h4; DWORD WINAPI VideoFunc(LPVOID pParam) / coutpFrameTexture; NUI_LOCKED_RECT LockedRect; pTexture-LockRect( 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, if( FAILED( hr ) ) coutpFrameTexture; NUI_LOCKED_RECT LockedRect; pTexture-LockRect( 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;i3; BYTE scale = 255 - (BYTE)(256*realDepth/0x0fff); bufCHANNEL*i = bufCHANNEL*i+1 = bufCHANNEL*i+2 = 0; switch( index ) case 0: bufCHANNEL*i=scale/2; bufCHANNEL*i+1=scale/2; bufCHANNEL*i+2=scale/2; break; case 1: bufCHANNEL*i=scale; break; case 2: bufCHANNEL*i+1=scale; break; case 3: bufCHANNEL*i+2=scale; break; case 4: bufCHANNEL*i=scale; bufCHANNEL*i+1=scale; break; case 5: bufCHANNEL*i=scale; bufCHANNEL*i+2=scale; break; case 6: bufCHANNEL*i+1=scale; bufCHANNEL*i+2=scale; break; case 7: bufCHANNEL*i=255-scale/2; bufCHANNEL*i+1=255-scale/2; bufCHANNEL*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 pt20; Mat skeletonMat=Mat(SKELETON_HIGHT,SKELETON_WIDTH,CV_8UC3,Scalar(0,0, 0); HRESULT hr = NuiSkeletonGetNextFrame( 0, if( FAILED( hr ) ) coutInitialize( if( FAILED(hr) ) return -2;/ Handle errors / Create IFTResult to hold a face tracking result IFTResult* pFTResult = NULL; hr = pFT-CreateFTResult( 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( if(SUCCEEDED(hr) else / Handle errors isTracked = false; else / Continue tracking. It uses a previously known face position, / so it is an inexpensive call. hr = pFT-ContinueTracking( if(FAILED(hr) | FAILED (pFTResult-GetStatus() / Handle errors isTracked = false; if(isTracked) printf(“被跟踪了！!n“); IFTModel* ftModel; HRESULT hr = pFT-GetFaceModel( FLOAT* pSU = NULL; UINT numSU; BOOL suConverged; pFT-GetShapeUnits(NULL, POINT viewOffset = 0, 0; hr = VisualizeFaceModel(pColorFrame, ftModel, 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(“%dn“,pFTResult-GetStatus(); / Do something with pFTResult. Sleep(16); iFaceTrackTimeCount+; if(iFaceTrackTimeCount16*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(_malloca(sizeof(FT_VECTOR2D) * vertexCount); if (pPts2D) FLOAT *pAUs; UINT auCount; hr = pAAMRlt-GetAUCoefficients( if (SUCCEEDED(hr) FLOAT scale, rotationXYZ3, translationXYZ3; hr = pAAMRlt-Get3DPose( 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(_malloca(sizeof(POINT) * vertexCount); if (p3DMdl) for (UINT i = 0; i GetTriangles( if (SUCCEEDED(hr) struct EdgeHashTable UINT32* pEdges; UINT edgesAlloc; void Insert(int a, int b) UINT32 v = (min(a, b) (_malloca(sizeof