/// <summary>
/// Gets the 3D shape associated with the result
/// </summary>
/// <param name="faceTrackFrame">
/// result object
/// </param>
/// <returns>
/// the 3d shape
/// </returns>
public Vector3DF[] Get3DShape(FaceTrackFrame faceTrackFrame)
{
IntPtr shapeUnitCoeffPtr;
uint shapeUnitCount = 0;
IntPtr animUnitCoeffPtr;
uint animUnitPointsCount;
bool hasSuConverged;
float scale;
faceTrackFrame.ResultPtr.GetAUCoefficients(out animUnitCoeffPtr, out animUnitPointsCount);
this.faceTracker.FaceTrackerPtr.GetShapeUnits(out scale, out shapeUnitCoeffPtr, ref shapeUnitCount, out hasSuConverged);
return this.Get3DShape(
shapeUnitCoeffPtr,
shapeUnitCount,
animUnitCoeffPtr,
animUnitPointsCount,
faceTrackFrame.Scale,
faceTrackFrame.Rotation,
faceTrackFrame.Translation);
}
public PointF[] GetProjected3DShape(float zoomFactor, Point viewOffset, FaceTrackFrame faceTrackFrame)
{
this.CheckPtrAndThrow();
IntPtr shapeUnitCoeffPtr;
uint shapeUnitCount = 0;
IntPtr animUnitCoeffPtr;
uint animUnitPointsCount;
bool hasSuConverged;
float scale;
faceTrackFrame.ResultPtr.GetAUCoefficients(out animUnitCoeffPtr, out animUnitPointsCount);
this.faceTracker.FaceTrackerPtr.GetShapeUnits(out scale, out shapeUnitCoeffPtr, ref shapeUnitCount, out hasSuConverged);
return this.GetProjected3DShape(
this.faceTracker.ColorCameraConfig,
zoomFactor,
viewOffset,
shapeUnitCoeffPtr,
shapeUnitCount,
animUnitCoeffPtr,
animUnitPointsCount,
faceTrackFrame.Scale,
faceTrackFrame.Rotation,
faceTrackFrame.Translation);
}
/// <summary>
/// Helper method that does the core instantiation & initialization of face tracking engine
/// </summary>
/// <param name="newColorCameraConfig">Color camera configuration</param>
/// <param name="newDepthCameraConfig">Depth camera configuration</param>
/// <param name="colorImagePtr">Allows face tracking engine to read color image from native memory pointer.
/// If set to IntPtr.Zero, image data needs to be provided for tracking to this instance. </param>
/// <param name="depthImagePtr">Allows face tracking engine to read depth image from native memory pointer.
/// If set to IntPtr.Zero, image data needs to be provided for tracking to this instance.</param>
/// <param name="newRegisterDepthToColorDelegate">Callback which maps of depth to color pixels</param>
private void Initialize(
CameraConfig newColorCameraConfig,
CameraConfig newDepthCameraConfig,
IntPtr colorImagePtr,
IntPtr depthImagePtr,
FaceTrackingRegisterDepthToColor newRegisterDepthToColorDelegate)
{
if (newColorCameraConfig == null)
{
throw new ArgumentNullException("newColorCameraConfig");
}
if (newDepthCameraConfig == null)
{
throw new ArgumentNullException("newDepthCameraConfig");
}
if (newRegisterDepthToColorDelegate == null)
{
throw new ArgumentNullException("newRegisterDepthToColorDelegate");
}
// initialize perf counters
this.totalTracks = 0;
this.trackStopwatch.Reset();
// get configuration & trace settings
this.traceLevel = new TraceSwitch(FaceTrackTraceSwitchName, FaceTrackTraceSwitchName).Level;
this.videoCameraConfig = newColorCameraConfig;
this.depthCameraConfig = newDepthCameraConfig;
this.registerDepthToColorDelegate = newRegisterDepthToColorDelegate;
this.faceTrackerInteropPtr = NativeMethods.FTCreateFaceTracker(IntPtr.Zero);
if (this.faceTrackerInteropPtr == null)
{
throw new InsufficientMemoryException("Cannot create face tracker.");
}
IntPtr funcPtr = Marshal.GetFunctionPointerForDelegate(this.registerDepthToColorDelegate);
if (funcPtr == IntPtr.Zero)
{
throw new InsufficientMemoryException("Cannot setup callback for retrieving color to depth pixel mapping");
}
int hr = this.faceTrackerInteropPtr.Initialize(this.videoCameraConfig, this.depthCameraConfig, funcPtr, null);
if (hr != 0)
{
throw new InvalidOperationException(
string.Format(CultureInfo.CurrentCulture, "Failed to initialize face tracker - Error code from native=0x{0:X}", hr));
}
this.frame = this.CreateResult(out hr);
if (this.frame == null || hr != 0)
{
throw new InvalidOperationException(
string.Format(CultureInfo.CurrentCulture, "Failed to create face tracking result. Error code from native=0x{0:X}", hr));
}
this.colorFaceTrackingImage = new Image();
if (colorImagePtr == IntPtr.Zero)
{
this.colorFaceTrackingImage.Allocate(
this.videoCameraConfig.Width, this.videoCameraConfig.Height, this.videoCameraConfig.ImageFormat);
}
else
{
this.colorFaceTrackingImage.Attach(
this.videoCameraConfig.Width,
this.videoCameraConfig.Height,
colorImagePtr,
this.videoCameraConfig.ImageFormat,
this.videoCameraConfig.Stride);
}
this.depthFaceTrackingImage = new Image();
if (depthImagePtr == IntPtr.Zero)
{
this.depthFaceTrackingImage.Allocate(
this.depthCameraConfig.Width, this.depthCameraConfig.Height, this.depthCameraConfig.ImageFormat);
}
else
{
this.depthFaceTrackingImage.Attach(
this.depthCameraConfig.Width,
this.depthCameraConfig.Height,
depthImagePtr,
this.depthCameraConfig.ImageFormat,
this.depthCameraConfig.Stride);
}
}
/// <summary>
/// Allows calling dispose explicitly or from the finalizer
/// </summary>
/// <param name="disposing">true to release both managed and unmanaged resources; false to release only unmanaged resources</param>
protected virtual void Dispose(bool disposing)
{
if (!this.disposed)
{
string traceStr = string.Format(
CultureInfo.InvariantCulture,
"FaceTracker::Dispose() - TotalTracks={0}, TotalSuccessTracks={1}, TimePerTrack={2:F3}ms, TimePerSuccessTrack={3:F3}ms, TimePerDataCopy={4:F3}ms, TimePerStartOrContinueTracking={5:F3}ms",
this.totalTracks,
this.totalSuccessTracks,
this.totalTracks > 0 ? (double)this.trackStopwatch.ElapsedMilliseconds / this.totalTracks : 0,
this.totalSuccessTracks > 0 ? (double)this.totalSuccessTrackMs / this.totalSuccessTracks : 0,
this.totalTracks > 0 ? (double)this.copyStopwatch.ElapsedMilliseconds / this.totalTracks : 0,
this.totalTracks > 0 ? (double)this.startOrContinueTrackingStopwatch.ElapsedMilliseconds / this.totalTracks : 0);
#if DEBUG
Debug.WriteLine(traceStr);
#else
Trace.WriteLineIf(traceLevel >= TraceLevel.Info, traceStr);
#endif
if (this.faceModel != null)
{
this.faceModel.Dispose();
this.faceModel = null;
}
if (this.frame != null)
{
this.frame.Dispose();
this.frame = null;
}
if (this.colorFaceTrackingImage != null)
{
this.colorFaceTrackingImage.Dispose();
this.colorFaceTrackingImage = null;
}
if (this.depthFaceTrackingImage != null)
{
this.depthFaceTrackingImage.Dispose();
this.depthFaceTrackingImage = null;
}
if (this.faceTrackerInteropPtr != null)
{
Marshal.FinalReleaseComObject(this.faceTrackerInteropPtr);
this.faceTrackerInteropPtr = null;
}
this.disposed = true;
}
}
/// <summary>
/// Creates a frame object instance. Can be used for caching of the face tracking
/// frame. FaceTrackFrame should be disposed after use.
/// </summary>
/// <returns>
/// newly created frame object
/// </returns>
internal FaceTrackFrame CreateResult(out int hr)
{
IFTResult faceTrackResultPtr;
FaceTrackFrame faceTrackFrame = null;
this.CheckPtrAndThrow();
hr = this.faceTrackerInteropPtr.CreateFTResult(out faceTrackResultPtr);
if (faceTrackResultPtr != null)
{
faceTrackFrame = new FaceTrackFrame(faceTrackResultPtr, this);
}
return faceTrackFrame;
}
/// <summary>
/// Helper method that does the core instantiation & initialization of face tracking engine
/// </summary>
/// <param name="newColorCameraConfig">Color camera configuration</param>
/// <param name="newDepthCameraConfig">Depth camera configuration</param>
/// <param name="colorImagePtr">Allows face tracking engine to read color image from native memory pointer.
/// If set to IntPtr.Zero, image data needs to be provided for tracking to this instance. </param>
/// <param name="depthImagePtr">Allows face tracking engine to read depth image from native memory pointer.
/// If set to IntPtr.Zero, image data needs to be provided for tracking to this instance.</param>
/// <param name="newRegisterDepthToColorDelegate">Callback which maps of depth to color pixels</param>
private void Initialize(
CameraConfig newColorCameraConfig,
CameraConfig newDepthCameraConfig,
IntPtr colorImagePtr,
IntPtr depthImagePtr,
FaceTrackingRegisterDepthToColor newRegisterDepthToColorDelegate)
{
if (newColorCameraConfig == null)
{
throw new ArgumentNullException("newColorCameraConfig");
}
if (newDepthCameraConfig == null)
{
throw new ArgumentNullException("newDepthCameraConfig");
}
if (newRegisterDepthToColorDelegate == null)
{
throw new ArgumentNullException("newRegisterDepthToColorDelegate");
}
// initialize perf counters
this.totalTracks = 0;
this.trackStopwatch.Reset();
// get configuration & trace settings
this.traceLevel = new TraceSwitch(FaceTrackTraceSwitchName, FaceTrackTraceSwitchName).Level;
this.videoCameraConfig = newColorCameraConfig;
this.depthCameraConfig = newDepthCameraConfig;
this.registerDepthToColorDelegate = newRegisterDepthToColorDelegate;
this.faceTrackerInteropPtr = NativeMethods.FTCreateFaceTracker(IntPtr.Zero);
if (this.faceTrackerInteropPtr == null)
{
throw new InsufficientMemoryException("Cannot create face tracker.");
}
IntPtr funcPtr = Marshal.GetFunctionPointerForDelegate(this.registerDepthToColorDelegate);
if (funcPtr == IntPtr.Zero)
{
throw new InsufficientMemoryException("Cannot setup callback for retrieving color to depth pixel mapping");
}
int hr = this.faceTrackerInteropPtr.Initialize(this.videoCameraConfig, this.depthCameraConfig, funcPtr, null);
if (hr != 0)
{
throw new InvalidOperationException(
string.Format(CultureInfo.CurrentCulture, "Failed to initialize face tracker - Error code from native=0x{0:X}", hr));
}
this.frame = this.CreateResult(out hr);
if (this.frame == null || hr != 0)
{
throw new InvalidOperationException(
string.Format(CultureInfo.CurrentCulture, "Failed to create face tracking result. Error code from native=0x{0:X}", hr));
}
this.colorFaceTrackingImage = new Image();
if (colorImagePtr == IntPtr.Zero)
{
this.colorFaceTrackingImage.Allocate(
this.videoCameraConfig.Width, this.videoCameraConfig.Height, this.videoCameraConfig.ImageFormat);
}
else
{
this.colorFaceTrackingImage.Attach(
this.videoCameraConfig.Width,
this.videoCameraConfig.Height,
colorImagePtr,
this.videoCameraConfig.ImageFormat,
this.videoCameraConfig.Stride);
}
this.depthFaceTrackingImage = new Image();
if (depthImagePtr == IntPtr.Zero)
{
this.depthFaceTrackingImage.Allocate(
this.depthCameraConfig.Width, this.depthCameraConfig.Height, this.depthCameraConfig.ImageFormat);
}
else
{
this.depthFaceTrackingImage.Attach(
this.depthCameraConfig.Width,
this.depthCameraConfig.Height,
depthImagePtr,
this.depthCameraConfig.ImageFormat,
this.depthCameraConfig.Stride);
}
}
