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トップに関する質問KinectV2プログラミング HDFace（C++）の改良

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質問編集履歴

2

文の修正

2017/12/05 04:31

投稿

hihihidesan
hihihidesan

スコア6

test CHANGED
@@ -1 +1 @@
1
- KinectV2プログラミング（C++）の改良
1
+ KinectV2プログラミング HDFace（C++）の改良
test CHANGED
@@ -1,6 +1,6 @@
1
1
  ###前提・実現したいこと
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- KinectV2　HDfaceで1347点の顔特徴点を表示するプログラムを以下のURLように組んだのですが、
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+ KinectV2　HDfaceで1347点の顔特徴点を表示するプログラムを以下のように組んだのですが、
4
4
 
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  特徴点が多すぎるためKinect.Face.hで定義されたHighDetailFacePointsの数十点の特徴点のみを
6
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@@ -8,13 +8,581 @@
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- URL: https://github.com/K4W2-Book/K4W2-Book/blob/master/C%2B%2B(Native)/08_Face/KinectV2-Face-02/KinectV2/main.cpp
12
-
13
11
 
14
12
 
15
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  ``````ここに言語を入力
16
14
 
15
+ #include <iostream>
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+
17
+ #include <sstream>
18
+
19
+ #include <vector>
20
+
21
+ #include <array>
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+
23
+ #define _USE_MATH_DEFINES
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+
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+ #include <cmath>
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+
27
+ #include <atlbase.h>
28
+
29
+
30
+
31
+ #include <Windows.h>
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+
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+ #include <Kinect.h>
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+
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+ #include <Kinect.Face.h>
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+
37
+
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+
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+ #include <opencv2/opencv.hpp>
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+
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+
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+
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+ #define ERROR_CHECK( ret ) \
44
+
45
+ if( FAILED( ret ) ){ \
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+
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+ std::stringstream ss; \
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+
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+ ss << "failed " #ret " " << std::hex << ret << std::endl; \
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+
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+ throw std::runtime_error( ss.str().c_str() ); \
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+
53
+ }
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+
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+
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+
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+ class KinectApp
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+
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+ {
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+
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+ private:
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+
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+ CComPtr<IKinectSensor> kinect;
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+
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+ CComPtr<IColorFrameReader> colorFrameReader;
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+
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+ CComPtr<IBodyFrameReader> bodyFrameReader;
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+
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+ CComPtr<ICoordinateMapper> coordinateMapper;
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+
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+ std::vector<BYTE> colorBuffer;
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+
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+ int colorWidth;
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+
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+ int colorHeight;
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+
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+ unsigned int colorBytesPerPixel;
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+
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+ ColorImageFormat colorFormat = ColorImageFormat::ColorImageFormat_Bgra;
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+
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+ cv::Mat colorImage;
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+
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+
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+
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+ CComPtr<IHighDefinitionFaceFrameReader> hdFaceFrameReader;
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+
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+ CComPtr<IFaceModelBuilder> faceModelBuilder;
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+
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+ CComPtr<IFaceAlignment> faceAlignment;
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+
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+ CComPtr<IFaceModel> faceModel;
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+
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+ std::array<float, FaceShapeDeformations::FaceShapeDeformations_Count> shapeUnits;
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+
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+ UINT32 vertexCount;
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+
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+ UINT64 trackingId;
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+
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+ int trackingCount;
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+
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+ bool produced;
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+
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+
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+
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+ std::array<cv::Scalar, BODY_COUNT> colors;
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+
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+ int font = cv::FONT_HERSHEY_SIMPLEX;
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+
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+
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+
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+ public:
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+
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+ void initialize()
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+
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+ {
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+
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+ ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
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+
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+ ERROR_CHECK( kinect->Open() );
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+
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+ BOOLEAN isOpen;
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+
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+ ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
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+
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+ if( !isOpen ){
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+
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+ throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
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+
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+ }
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+
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+
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+
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+ ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
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+
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+ CComPtr<IColorFrameSource> colorFrameSource;
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+
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+ ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
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+
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+ ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
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+
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+ CComPtr<IFrameDescription> colorFrameDescription;
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+
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+ ERROR_CHECK( colorFrameSource->CreateFrameDescription( colorFormat, &colorFrameDescription ) );
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+
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+ ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) );
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+
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+ ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) );
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+
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+ ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) );
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+
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+ colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
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+
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+ CComPtr<IBodyFrameSource> bodyFrameSource;
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+
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+ ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
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+
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+ ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
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+
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+
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+
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+ initializeHDFace();
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+
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+
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+
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+ // Lookup Table
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+
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+ colors[0] = cv::Scalar( 255, 0, 0 );
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+
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+ colors[1] = cv::Scalar( 0, 255, 0 );
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+
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+ colors[2] = cv::Scalar( 0, 0, 255 );
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+
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+ colors[3] = cv::Scalar( 255, 255, 0 );
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+
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+ colors[4] = cv::Scalar( 255, 0, 255 );
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+
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+ colors[5] = cv::Scalar( 0, 255, 255 );
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+
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+ }
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+
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+
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+
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+ void run()
184
+
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+ {
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+
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+ while( 1 ){
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+
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+ update();
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+
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+ draw();
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+
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+
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+
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+ int key = cv::waitKey( 10 );
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+
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+ if( key == VK_ESCAPE ){
198
+
199
+ cv::destroyAllWindows();
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+
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+ break;
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+
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+ }
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+
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+ }
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+
207
+ }
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+
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+
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+
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+ private:
212
+
213
+ void initializeHDFace()
214
+
215
+ {
216
+
217
+ CComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
218
+
219
+ ERROR_CHECK( CreateHighDefinitionFaceFrameSource( kinect, &hdFaceFrameSource ) );
220
+
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+
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+
223
+ ERROR_CHECK( hdFaceFrameSource->OpenReader( &hdFaceFrameReader ) );
224
+
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+
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+
227
+ ERROR_CHECK( CreateFaceAlignment( &faceAlignment ) );
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+
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+
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+
231
+ ERROR_CHECK( CreateFaceModel( 1.0f, FaceShapeDeformations::FaceShapeDeformations_Count, &shapeUnits[0], &faceModel ) );
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+
233
+ ERROR_CHECK( GetFaceModelVertexCount( &vertexCount ) );
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+
235
+
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+
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+ FaceModelBuilderAttributes attribures = FaceModelBuilderAttributes::FaceModelBuilderAttributes_None;
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+
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+ ERROR_CHECK( hdFaceFrameSource->OpenModelBuilder( attribures, &faceModelBuilder ) );
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+
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+ ERROR_CHECK( faceModelBuilder->BeginFaceDataCollection() );
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+
243
+ }
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+
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+
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+
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+ void update()
248
+
249
+ {
250
+
251
+ updateColorFrame();
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+
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+ updateBodyFrame();
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+
255
+ updateHDFaceFrame();
256
+
257
+ }
258
+
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+
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+
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+ void updateColorFrame()
262
+
263
+ {
264
+
265
+ CComPtr<IColorFrame> colorFrame;
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+
267
+ HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
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+
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+ if( FAILED( ret ) ){
270
+
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+ return;
272
+
273
+ }
274
+
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+
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+
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+ ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], colorFormat ) );
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+
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+
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+
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+ colorImage = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
282
+
283
+ }
284
+
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+
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+
287
+ void updateBodyFrame()
288
+
289
+ {
290
+
291
+ CComPtr<IBodyFrame> bodyFrame;
292
+
293
+ HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
294
+
295
+ if( FAILED( ret ) ){
296
+
297
+ return;
298
+
299
+ }
300
+
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+
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+
303
+ std::array<CComPtr<IBody>, BODY_COUNT> bodies;
304
+
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+ ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( BODY_COUNT, &bodies[0] ) );
306
+
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+
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+
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+ findClosestBody( bodies );
310
+
311
+ }
312
+
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+
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+
315
+ inline void findClosestBody( const std::array<CComPtr<IBody>, BODY_COUNT>& bodies )
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+
317
+ {
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+
319
+ float closest = FLT_MAX;
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+
321
+ for( int count = 0; count < BODY_COUNT; count++ ){
322
+
323
+ CComPtr<IBody> body = bodies[count];
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+
325
+ BOOLEAN tracked;
326
+
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+ ERROR_CHECK( body->get_IsTracked( &tracked ) );
328
+
329
+ if( !tracked ){
330
+
331
+ continue;
332
+
333
+ }
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+
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+
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+
337
+ std::array<Joint, JointType::JointType_Count> joints;
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+
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+ ERROR_CHECK( body->GetJoints( JointType::JointType_Count, &joints[0] ) );
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+
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+ Joint joint = joints[JointType::JointType_Head];
342
+
343
+ if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
344
+
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+ continue;
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+
347
+ }
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+
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+
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+
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+ CameraSpacePoint point = joint.Position;
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+
353
+ float distance = std::sqrt( std::pow( point.X, 2 ) + std::pow( point.Y, 2 ) + std::pow( point.Z, 2 ) );
354
+
355
+ if( closest <= distance ){
356
+
357
+ continue;
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+
359
+ }
360
+
361
+ closest = distance;
362
+
363
+
364
+
365
+ UINT64 id;
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+
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+ ERROR_CHECK( body->get_TrackingId( &id ) );
368
+
369
+ if( trackingId != id ){
370
+
371
+ trackingId = id;
372
+
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+ trackingCount = count;
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+
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+ produced = false;
376
+
377
+
378
+
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+
380
+
381
+ CComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
382
+
383
+ ERROR_CHECK( hdFaceFrameReader->get_HighDefinitionFaceFrameSource( &hdFaceFrameSource ) );
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+
385
+ ERROR_CHECK( hdFaceFrameSource->put_TrackingId( trackingId ) );
386
+
387
+ }
388
+
389
+ }
390
+
391
+ }
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+
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+
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+
395
+ void updateHDFaceFrame()
396
+
397
+ {
398
+
399
+ CComPtr<IHighDefinitionFaceFrame> hdFaceFrame;
400
+
401
+ HRESULT ret = hdFaceFrameReader->AcquireLatestFrame( &hdFaceFrame );
402
+
403
+ if( FAILED( ret ) ){
404
+
405
+ return;
406
+
407
+ }
408
+
409
+
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+
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+ BOOLEAN tracked;
412
+
413
+ ERROR_CHECK( hdFaceFrame->get_IsFaceTracked( &tracked ) );
414
+
415
+ if( !tracked ){
416
+
417
+ return;
418
+
419
+ }
420
+
421
+
422
+
423
+ ERROR_CHECK( hdFaceFrame->GetAndRefreshFaceAlignmentResult( faceAlignment ) );
424
+
425
+ if( faceAlignment != nullptr ){
426
+
427
+ // Face Modelのフィッティング
428
+
429
+ buildFaceModel();
430
+
431
+
432
+
433
+ // 結果を取得、描画
434
+
435
+ result();
436
+
437
+ }
438
+
439
+ }
440
+
441
+
442
+
443
+ inline void buildFaceModel()
444
+
445
+ {
446
+
447
+ if( produced ){
448
+
449
+ cv::putText( colorImage, "Status : Complete", cv::Point( 50, 50 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
450
+
451
+ return;
452
+
453
+ }
454
+
455
+
456
+
457
+ FaceModelBuilderCollectionStatus collection;
458
+
459
+ ERROR_CHECK( faceModelBuilder->get_CollectionStatus( &collection ) );
460
+
461
+ if( collection ){
462
+
463
+ // コレクション状態
464
+
465
+ cv::putText( colorImage, "Status : " + std::to_string( collection ), cv::Point( 50, 50 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
466
+
467
+ std::string status = status2string( collection );
468
+
469
+ cv::putText( colorImage, status, cv::Point( 50, 80 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
470
+
471
+
472
+
473
+ // キャプチャー状態
474
+
475
+ FaceModelBuilderCaptureStatus capture;
476
+
477
+ ERROR_CHECK( faceModelBuilder->get_CaptureStatus( &capture ) );
478
+
479
+ status = status2string( capture );
480
+
481
+ cv::putText( colorImage, status, cv::Point( 50, 110 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
482
+
483
+
484
+
485
+ return;
486
+
487
+ }
488
+
489
+
490
+
491
+ CComPtr<IFaceModelData> faceModelData;
492
+
493
+ ERROR_CHECK( faceModelBuilder->GetFaceData( &faceModelData ) );
494
+
495
+ if( faceModelData != nullptr ){
496
+
497
+ ERROR_CHECK( faceModelData->ProduceFaceModel( &faceModel ) );
498
+
499
+ produced = true;
500
+
501
+ }
502
+
503
+ }
504
+
505
+
506
+
507
+ inline std::string status2string( const FaceModelBuilderCollectionStatus collection )
508
+
509
+ {
510
+
511
+ //文字数の都合上省略します。
512
+
513
+ return status;
514
+
515
+ }
516
+
517
+
518
+
519
+ inline std::string status2string( const FaceModelBuilderCaptureStatus capture )
520
+
521
+ {
522
+
523
+ //文字数の都合上省略します。
524
+
525
+ }
526
+
527
+
528
+
529
+ inline void result()
530
+
531
+ {
532
+
533
+ //文字数の都合上省略します。
534
+
535
+ }
536
+
537
+
538
+
539
+ void draw()
540
+
541
+ {
542
+
543
+ drawHDFaceFrame();
544
+
545
+ }
546
+
547
+
548
+
549
+ void drawHDFaceFrame()
550
+
551
+ {
552
+
553
+ if( !colorImage.empty() ){
554
+
555
+ cv::imshow( "HDFace", colorImage );
556
+
557
+ }
558
+
559
+ }
560
+
561
+ };
562
+
563
+
564
+
565
+ void main()
566
+
567
+ {
568
+
17
- C++
569
+ try{
570
+
571
+ KinectApp app;
572
+
573
+ app.initialize();
574
+
575
+ app.run();
576
+
577
+ }
578
+
579
+ catch( std::exception& ex ){
580
+
581
+ std::cout << ex.what() << std::endl;
582
+
583
+ }
584
+
585
+ }
18
586
 
19
587
  ```
20
588
 

1

2017/12/05 04:31

投稿

hihihidesan
hihihidesan

スコア6

test CHANGED
File without changes
test CHANGED
File without changes