kinect/Kinect2Sample-master/sample/FaceClip/app.cpp

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2024-04-14 11:45:18 +00:00
#include "app.h"
#include "util.h"
#include <thread>
#include <chrono>
#define _USE_MATH_DEFINES
#include <math.h>
#include <ppl.h>
// Constructor
Kinect::Kinect()
{
// Initialize
initialize();
}
// Destructor
Kinect::~Kinect()
{
// Finalize
finalize();
}
// Processing
void Kinect::run()
{
// Main Loop
while( true ){
// Update Data
update();
// Draw Data
draw();
// Show Data
show();
// Key Check
const int key = cv::waitKey( 10 );
if( key == VK_ESCAPE || GetKeyState( VK_ESCAPE ) < 0 ){
break;
}
}
}
// Initialize
void Kinect::initialize()
{
cv::setUseOptimized( true );
// Initialize Sensor
initializeSensor();
// Initialize Color
initializeColor();
// Initialize Body
initializeBody();
// Initialize Face
initializeFace();
// Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
}
// Initialize Sensor
inline void Kinect::initializeSensor()
{
// Open Sensor
ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
ERROR_CHECK( kinect->Open() );
// Check Open
BOOLEAN isOpen = FALSE;
ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
if( !isOpen ){
throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
}
// Retrieve Coordinate Mapper
ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
}
// Initialize Color
inline void Kinect::initializeColor()
{
// Open Color Reader
ComPtr<IColorFrameSource> colorFrameSource;
ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
// Retrieve Color Description
ComPtr<IFrameDescription> colorFrameDescription;
ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
// Allocation Color Buffer
colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
}
// Initialize Body
inline void Kinect::initializeBody()
{
// Open Body Reader
ComPtr<IBodyFrameSource> bodyFrameSource;
ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
// Initialize Body Buffer
Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
SafeRelease( body );
} );
}
// Initialize Face
inline void Kinect::initializeFace()
{
// Set Face Features to Enable
const DWORD features =
FaceFrameFeatures::FaceFrameFeatures_BoundingBoxInColorSpace;
Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
// Create Face Sources
ComPtr<IFaceFrameSource> faceFrameSource;
ERROR_CHECK( CreateFaceFrameSource( kinect.Get(), 0, features, &faceFrameSource ) );
// Open Face Readers
ERROR_CHECK( faceFrameSource->OpenReader( &faceFrameReader[count] ) );
} );
}
// Finalize
void Kinect::finalize()
{
cv::destroyAllWindows();
// Release Body Buffer
Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
SafeRelease( body );
} );
// Close Sensor
if( kinect != nullptr ){
kinect->Close();
}
}
// Update Data
void Kinect::update()
{
// Update Color
updateColor();
// Update Body
updateBody();
// Update Face
updateFace();
}
// Update Color
inline void Kinect::updateColor()
{
// Retrieve Color Frame
ComPtr<IColorFrame> colorFrame;
const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
if( FAILED( ret ) ){
return;
}
// Convert Format ( YUY2 -> BGRA )
ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
}
// Update Body
inline void Kinect::updateBody()
{
// Retrieve Body Frame
ComPtr<IBodyFrame> bodyFrame;
const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
if( FAILED( ret ) ){
return;
}
// Release Previous Bodies
Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
SafeRelease( body );
} );
// Retrieve Body Data
ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
const ComPtr<IBody> body = bodies[count];
BOOLEAN tracked;
ERROR_CHECK( body->get_IsTracked( &tracked ) );
if( !tracked ){
return;
}
// Retrieve Tracking ID
UINT64 trackingId;
ERROR_CHECK( body->get_TrackingId( &trackingId ) );
// Registration Tracking ID
ComPtr<IFaceFrameSource> faceFrameSource;
ERROR_CHECK( faceFrameReader[count]->get_FaceFrameSource( &faceFrameSource ) );
ERROR_CHECK( faceFrameSource->put_TrackingId( trackingId ) );
} );
}
// Update Face
inline void Kinect::updateFace()
{
// ReSet Results
results.fill( nullptr );
Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
// Retrieve Face Frame
ComPtr<IFaceFrame> faceFrame;
const HRESULT ret = faceFrameReader[count]->AcquireLatestFrame( &faceFrame );
if( FAILED( ret ) ){
return;
}
// Check Tracking ID is Valid
BOOLEAN tracked;
ERROR_CHECK( faceFrame->get_IsTrackingIdValid( &tracked ) );
if( !tracked ){
return;
}
// Release Previous Face Result and Retrieve Face Result
ERROR_CHECK( faceFrame->get_FaceFrameResult( &results[count] ) );
} );
}
// Draw Data
void Kinect::draw()
{
// Draw Color
drawColor();
// Draw Face Clip
drawFaceClip();
}
// Draw Color
inline void Kinect::drawColor()
{
// Create cv::Mat from Color Buffer
colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
}
// Draw Face
inline void Kinect::drawFaceClip()
{
Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
const ComPtr<IFaceFrameResult> result = results[count];
if( result == nullptr ){
return;
}
// Retrieve Bounding Box
RectI boundingBox;
ERROR_CHECK( result->get_FaceBoundingBoxInColorSpace( &boundingBox ) );
// Retrieve Face Clip using Bounding Box
retrieveFaceClip( faceClipMat[count], boundingBox );
} );
}
// Retrieve Face Clip
inline void Kinect::retrieveFaceClip( cv::Mat& image, const RectI& box )
{
if( colorMat.empty() ){
return;
}
// Retrieve Face Clip using Bounding Box
const int width = box.Right - box.Left;
const int height = box.Bottom - box.Top;
image = colorMat( cv::Rect( box.Left, box.Top, width, height ) ).clone();
}
// Show Data
void Kinect::show()
{
// Show Face Clip
showFaceClip();
}
// Show Face Clip
inline void Kinect::showFaceClip()
{
for( int count = 0; count < BODY_COUNT; count++ ){
if( faceClipMat[count].empty() ){
cv::destroyWindow( "Face" + std::to_string( count ) );
continue;
}
// Resize Clip to Constant Size
cv::resize( faceClipMat[count], faceClipMat[count], cv::Size( 200, 200 ) );
// Show Image
cv::imshow( "Face" + std::to_string( count ), faceClipMat[count] );
}
}