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KinectV2プログラミング（C++）の改良
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KinectV2プログラミング HDFace（C++）の改良
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###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
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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、
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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
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表示するプログラムを組みたいです。どのように改良させればよいでしょうか？
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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
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``````ここに言語を入力
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#include <iostream>
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#include <sstream>
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#include <vector>
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#include <array>
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <atlbase.h>
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#include <Windows.h>
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#include <Kinect.h>
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#include <Kinect.Face.h>
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#include <opencv2/opencv.hpp>
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#define ERROR_CHECK( ret ) \
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if( FAILED( ret ) ){ \
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std::stringstream ss; \
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ss << "failed " #ret " " << std::hex << ret << std::endl; \
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throw std::runtime_error( ss.str().c_str() ); \
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}
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class KinectApp
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{
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private:
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CComPtr<IKinectSensor> kinect;
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CComPtr<IColorFrameReader> colorFrameReader;
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CComPtr<IBodyFrameReader> bodyFrameReader;
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CComPtr<ICoordinateMapper> coordinateMapper;
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std::vector<BYTE> colorBuffer;
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int colorWidth;
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int colorHeight;
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unsigned int colorBytesPerPixel;
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ColorImageFormat colorFormat = ColorImageFormat::ColorImageFormat_Bgra;
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cv::Mat colorImage;
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CComPtr<IHighDefinitionFaceFrameReader> hdFaceFrameReader;
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CComPtr<IFaceModelBuilder> faceModelBuilder;
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CComPtr<IFaceAlignment> faceAlignment;
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CComPtr<IFaceModel> faceModel;
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std::array<float, FaceShapeDeformations::FaceShapeDeformations_Count> shapeUnits;
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UINT32 vertexCount;
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UINT64 trackingId;
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int trackingCount;
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bool produced;
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std::array<cv::Scalar, BODY_COUNT> colors;
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int font = cv::FONT_HERSHEY_SIMPLEX;
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public:
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void initialize()
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{
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ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
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ERROR_CHECK( kinect->Open() );
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BOOLEAN isOpen;
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ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
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if( !isOpen ){
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throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
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}
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ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
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CComPtr<IColorFrameSource> colorFrameSource;
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ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
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ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
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CComPtr<IFrameDescription> colorFrameDescription;
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ERROR_CHECK( colorFrameSource->CreateFrameDescription( colorFormat, &colorFrameDescription ) );
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ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) );
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ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) );
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ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) );
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colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
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CComPtr<IBodyFrameSource> bodyFrameSource;
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ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
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ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
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initializeHDFace();
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// Lookup Table
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colors[0] = cv::Scalar( 255, 0, 0 );
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colors[1] = cv::Scalar( 0, 255, 0 );
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colors[2] = cv::Scalar( 0, 0, 255 );
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colors[3] = cv::Scalar( 255, 255, 0 );
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colors[4] = cv::Scalar( 255, 0, 255 );
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colors[5] = cv::Scalar( 0, 255, 255 );
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}
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void run()
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{
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while( 1 ){
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update();
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draw();
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int key = cv::waitKey( 10 );
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if( key == VK_ESCAPE ){
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cv::destroyAllWindows();
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break;
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}
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}
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}
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private:
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void initializeHDFace()
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{
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CComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
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ERROR_CHECK( CreateHighDefinitionFaceFrameSource( kinect, &hdFaceFrameSource ) );
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ERROR_CHECK( hdFaceFrameSource->OpenReader( &hdFaceFrameReader ) );
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ERROR_CHECK( CreateFaceAlignment( &faceAlignment ) );
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ERROR_CHECK( CreateFaceModel( 1.0f, FaceShapeDeformations::FaceShapeDeformations_Count, &shapeUnits[0], &faceModel ) );
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ERROR_CHECK( GetFaceModelVertexCount( &vertexCount ) );
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FaceModelBuilderAttributes attribures = FaceModelBuilderAttributes::FaceModelBuilderAttributes_None;
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ERROR_CHECK( hdFaceFrameSource->OpenModelBuilder( attribures, &faceModelBuilder ) );
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ERROR_CHECK( faceModelBuilder->BeginFaceDataCollection() );
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}
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void update()
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{
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updateColorFrame();
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updateBodyFrame();
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updateHDFaceFrame();
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}
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void updateColorFrame()
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{
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CComPtr<IColorFrame> colorFrame;
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HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
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if( FAILED( ret ) ){
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return;
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}
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ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], colorFormat ) );
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colorImage = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
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}
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void updateBodyFrame()
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{
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CComPtr<IBodyFrame> bodyFrame;
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HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
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if( FAILED( ret ) ){
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return;
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}
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std::array<CComPtr<IBody>, BODY_COUNT> bodies;
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ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( BODY_COUNT, &bodies[0] ) );
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findClosestBody( bodies );
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}
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inline void findClosestBody( const std::array<CComPtr<IBody>, BODY_COUNT>& bodies )
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{
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float closest = FLT_MAX;
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for( int count = 0; count < BODY_COUNT; count++ ){
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CComPtr<IBody> body = bodies[count];
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BOOLEAN tracked;
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ERROR_CHECK( body->get_IsTracked( &tracked ) );
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if( !tracked ){
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continue;
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}
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std::array<Joint, JointType::JointType_Count> joints;
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ERROR_CHECK( body->GetJoints( JointType::JointType_Count, &joints[0] ) );
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Joint joint = joints[JointType::JointType_Head];
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if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
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continue;
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}
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CameraSpacePoint point = joint.Position;
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float distance = std::sqrt( std::pow( point.X, 2 ) + std::pow( point.Y, 2 ) + std::pow( point.Z, 2 ) );
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if( closest <= distance ){
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continue;
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}
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closest = distance;
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UINT64 id;
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ERROR_CHECK( body->get_TrackingId( &id ) );
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if( trackingId != id ){
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trackingId = id;
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trackingCount = count;
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produced = false;
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CComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
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ERROR_CHECK( hdFaceFrameReader->get_HighDefinitionFaceFrameSource( &hdFaceFrameSource ) );
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ERROR_CHECK( hdFaceFrameSource->put_TrackingId( trackingId ) );
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}
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}
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}
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void updateHDFaceFrame()
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{
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CComPtr<IHighDefinitionFaceFrame> hdFaceFrame;
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HRESULT ret = hdFaceFrameReader->AcquireLatestFrame( &hdFaceFrame );
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if( FAILED( ret ) ){
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return;
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}
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BOOLEAN tracked;
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ERROR_CHECK( hdFaceFrame->get_IsFaceTracked( &tracked ) );
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if( !tracked ){
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return;
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}
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ERROR_CHECK( hdFaceFrame->GetAndRefreshFaceAlignmentResult( faceAlignment ) );
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if( faceAlignment != nullptr ){
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// Face Modelのフィッティング
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buildFaceModel();
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// 結果を取得、描画
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result();
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}
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}
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inline void buildFaceModel()
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{
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if( produced ){
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cv::putText( colorImage, "Status : Complete", cv::Point( 50, 50 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
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return;
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}
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FaceModelBuilderCollectionStatus collection;
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ERROR_CHECK( faceModelBuilder->get_CollectionStatus( &collection ) );
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if( collection ){
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// コレクション状態
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cv::putText( colorImage, "Status : " + std::to_string( collection ), cv::Point( 50, 50 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
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std::string status = status2string( collection );
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cv::putText( colorImage, status, cv::Point( 50, 80 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
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// キャプチャー状態
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FaceModelBuilderCaptureStatus capture;
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ERROR_CHECK( faceModelBuilder->get_CaptureStatus( &capture ) );
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status = status2string( capture );
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cv::putText( colorImage, status, cv::Point( 50, 110 ), font, 1.0f, colors[trackingCount], 2, CV_AA );
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return;
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}
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CComPtr<IFaceModelData> faceModelData;
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ERROR_CHECK( faceModelBuilder->GetFaceData( &faceModelData ) );
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if( faceModelData != nullptr ){
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ERROR_CHECK( faceModelData->ProduceFaceModel( &faceModel ) );
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produced = true;
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}
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}
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inline std::string status2string( const FaceModelBuilderCollectionStatus collection )
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{
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//文字数の都合上省略します。
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return status;
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}
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inline std::string status2string( const FaceModelBuilderCaptureStatus capture )
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{
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//文字数の都合上省略します。
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}
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inline void result()
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{
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//文字数の都合上省略します。
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}
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void draw()
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{
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drawHDFaceFrame();
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}
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void drawHDFaceFrame()
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{
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if( !colorImage.empty() ){
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cv::imshow( "HDFace", colorImage );
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}
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}
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};
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void main()
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{
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try{
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KinectApp app;
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app.initialize();
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app.run();
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}
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catch( std::exception& ex ){
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std::cout << ex.what() << std::endl;
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}
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}
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```
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11
295
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コード
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12
296
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```
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1
title
CHANGED
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File without changes
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body
CHANGED
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File without changes
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