public static void DrawFaceRegion(Image <Bgr, Byte> image, FaceRegion2D faceRegion, Bgr color)
{
image.Draw(faceRegion.Face.ToRectangle(), color, 2);
if (faceRegion.LeftEye != null)
{
image.Draw(new Rectangle
(faceRegion.Face.Location.X + faceRegion.LeftEye.Location.X,
faceRegion.Face.Location.Y + faceRegion.LeftEye.Location.Y,
faceRegion.LeftEye.Width,
faceRegion.LeftEye.Height),
color, 2);
}
if (faceRegion.RightEye != null)
{
image.Draw(new Rectangle
(faceRegion.Face.Location.X + faceRegion.RightEye.Location.X,
faceRegion.Face.Location.Y + faceRegion.RightEye.Location.Y,
faceRegion.RightEye.Width,
faceRegion.RightEye.Height),
color, 2);
}
if (faceRegion.Mouth != null)
{
image.Draw(new Rectangle
(faceRegion.Face.Location.X + faceRegion.Mouth.Location.X,
faceRegion.Face.Location.Y + faceRegion.Mouth.Location.Y,
faceRegion.Mouth.Width,
faceRegion.Mouth.Height),
color, 2);
}
}
public FaceRegion2DHistory(FaceRegion2D faceRegion)
{
Face = faceRegion.Face;
LeftEye = faceRegion.LeftEye;
RightEye = faceRegion.RightEye;
Mouth = faceRegion.Mouth;
EyeAngle = faceRegion.EyeAngle;
}
public FaceRegion2DHistory(FaceRegion2D faceRegion)
{
Face = faceRegion.Face;
LeftEye = faceRegion.LeftEye;
RightEye = faceRegion.RightEye;
Mouth = faceRegion.Mouth;
EyeAngle = faceRegion.EyeAngle;
}
public static void DrawFaceRegionCircle(Image <Bgr, Byte> image, FaceRegion2D faceRegion, Bgr color)
{
image.Draw(new CircleF(new PointF(faceRegion.Face.Location.X + faceRegion.Face.Width / 2,
faceRegion.Face.Location.Y + faceRegion.Face.Height / 2),
(faceRegion.Face.Width + faceRegion.Face.Height) / 4), color, 2);
if (faceRegion.LeftEye != null)
{
image.Draw(new CircleF(new PointF
(faceRegion.Face.Location.X + faceRegion.LeftEye.Location.X + faceRegion.LeftEye.Width / 2,
faceRegion.Face.Location.Y + faceRegion.LeftEye.Location.Y + faceRegion.LeftEye.Height / 2),
(faceRegion.LeftEye.Width + faceRegion.LeftEye.Height) / 4),
color, 2);
}
if (faceRegion.RightEye != null)
{
image.Draw(new CircleF(new PointF
(faceRegion.Face.Location.X + faceRegion.RightEye.Location.X + faceRegion.RightEye.Width / 2,
faceRegion.Face.Location.Y + faceRegion.RightEye.Location.Y + faceRegion.RightEye.Height / 2),
(faceRegion.RightEye.Width + faceRegion.RightEye.Height) / 4),
color, 2);
}
}
private void ProcessFrame()
{
while (_captureContinue)
{
while (_processQueueLength != 2)
{
Thread.Sleep(SleepInterval);
}
if ((Helper2D.FilterInstances.Mode == Mode.Cpu && useGpuMenuItem.Checked) ||
(Helper2D.FilterInstances.Mode == Mode.Gpu && useGpuMenuItem.Checked == false))
{
Helper2D.FilterInstances = new FilterInstances(useGpuMenuItem.Checked ? Mode.Gpu : Mode.Cpu);
}
double distance;
if (_cameras[0].FaceRegions == null ||
_cameras[1].FaceRegions == null)
{
_resetCorrelation = true;
}
if (_resetCorrelation == false)
{
#region Find correlation with previous face regions
// iterate through all cameras and track faces
foreach (Camera camera in _cameras)
{
var newRawFaceRegions = new List <FaceRegion2D>();
// iterate through every face found previously, rotate image and find faces
foreach (FaceRegion2D faceRegion in camera.FaceRegions)
{
Image <Bgr, byte> image = camera.Image.Rotate(faceRegion.EyeAngle,
new PointF(faceRegion.Face.Location.X + faceRegion.Face.Width / 2, faceRegion.Face.Location.Y + faceRegion.Face.Height / 2),
INTER.CV_INTER_CUBIC, _rotateBackground, true);
if (_debugRotation)
{
camera.Image = image;
}
// find faces in rotated image
newRawFaceRegions.AddRange(Helper2D.GetFaceRegion2Ds(image, FaceWidth, FaceHeight, true, false));
}
// find best corespondence between old faces and new faces
IEnumerable <Tuple <int, int> > corespondences = Helper.FindCorespondence
(camera.FaceRegions.Select(item => item.Face.Location).ToArray(),
newRawFaceRegions.Select(item => item.Face.Location).ToArray(),
out distance);
if (corespondences == null ||
corespondences.Any() == false)
{
// face regions lost .. RESET both cameras
_resetCorrelation = true;
break;
}
var newFaceRegions = new FaceRegion2D[corespondences.Count()];
for (int i = 0; i < corespondences.Count(); i++)
{
FaceRegion2D faceRegion = newRawFaceRegions.ElementAt(corespondences.ElementAt(i).Item2);
faceRegion.SetHistory(camera.FaceRegions.ElementAt(corespondences.ElementAt(i).Item1));
newFaceRegions[i] = faceRegion;
}
camera.FaceRegions = newFaceRegions;
}
#endregion
}
if (_resetCorrelation)
{
#region Reset Found Faces
foreach (Camera camera in _cameras)
{
camera.FaceRegions = Helper2D.GetFaceRegion2Ds(camera.Image, FaceWidth, FaceHeight, true, false);
}
#endregion
}
if (_cameras[0].FaceRegions.Length > 0 &&
_cameras[1].FaceRegions.Length > 0)
{
#region Find correlation in stereo images and add history
IEnumerable <Point>[] points = _cameras.Select(camera => camera.FaceRegions.
Select(region => region.Face.Location)).ToArray();
List <Tuple <int, int> > correlations = Helper.FindCorespondence(points.ElementAt(0), points.ElementAt(1), out distance).ToList();
// images have incorect correlations and history
if (_resetCorrelation == false &&
correlations.Any(item => _cameras[0].FaceRegions.ElementAt(item.Item1).Id != _cameras[1].FaceRegions.ElementAt(item.Item2).Id))
{
_resetCorrelation = true;
}
if (_resetCorrelation)
{
// assign faces color and Id
foreach (var correlation in correlations)
{
var color = new Bgr(_random.NextDouble() * 255, _random.NextDouble() * 255, _random.NextDouble() * 255);
FaceRegion2D leftFaceRegion = _cameras[0].FaceRegions.ElementAt(correlation.Item1);
FaceRegion2D rightFaceRegion = _cameras[1].FaceRegions.ElementAt(correlation.Item2);
rightFaceRegion.Id = leftFaceRegion.Id;
leftFaceRegion.BoundingBoxColor = color;
rightFaceRegion.BoundingBoxColor = color;
}
}
#endregion
#region Recognize Faces
_cameras.ForEach(camera =>
{
if (camera.FaceRegions != null)
{
camera.FaceRegions.ToList().ForEach(faceRegion =>
{
Helper.DrawFaceRegionCircle(camera.Image, faceRegion, faceRegion.BoundingBoxColor);
string label = HelperFaces.Recognize(faceRegion.FaceImage);
camera.Image.Draw(string.Format("{0}", label),
ref _font, faceRegion.Face.Location, new Bgr(0, 0, 255));
});
}
});
#endregion
EventHandler <FaceRegionsEventArgs> facesAvailableHandler = FacesAvailable;
if (facesAvailableHandler != null)
{
facesAvailableHandler(this, new FaceRegionsEventArgs(_cameras[0].FaceRegions, _cameras[1].FaceRegions, null));
}
_faces = _cameras.SelectMany(camera => camera.FaceRegions).Select(item => item.FaceImage).ToArray();
}
_resetCorrelation = false;
PostProcess();
lock (this)
{
_processQueueLength = 0;
}
}
}
private void OnButtonCalibrateClick(object sender, EventArgs e)
{
if (_leftFaceRegions.Count < 3)
{
return;
}
IsCalibrating = true;
try
{
var objectPoints = new MCvPoint3D32f[_leftFaceRegions.Count][];
FaceRegion2D firstLeft = _leftFaceRegions.First();
for (int i = 0; i < _leftFaceRegions.Count; i++)
{
objectPoints[i] = new MCvPoint3D32f[4];
objectPoints[i][0] = new MCvPoint3D32f(firstLeft.Mouth.Location.X, firstLeft.Mouth.Location.Y, 0);
objectPoints[i][1] = new MCvPoint3D32f(firstLeft.LeftEye.Location.X, firstLeft.LeftEye.Location.Y, 0);
objectPoints[i][2] = new MCvPoint3D32f(firstLeft.RightEye.Location.X, firstLeft.RightEye.Location.Y, 0);
objectPoints[i][3] = new MCvPoint3D32f(firstLeft.Face.Location.X, firstLeft.Face.Location.Y, 0);
}
var leftImagePoints = new PointF[_leftFaceRegions.Count][];
for (int i = 0; i < _leftFaceRegions.Count; i++)
{
leftImagePoints[i] = new PointF[4];
leftImagePoints[i][0] = new PointF(_leftFaceRegions[i].Mouth.Location.X, _leftFaceRegions[i].Mouth.Location.Y);
leftImagePoints[i][1] = new PointF(_leftFaceRegions[i].LeftEye.Location.X, _leftFaceRegions[i].LeftEye.Location.Y);
leftImagePoints[i][2] = new PointF(_leftFaceRegions[i].RightEye.Location.X, _leftFaceRegions[i].RightEye.Location.Y);
leftImagePoints[i][3] = new PointF(_leftFaceRegions[i].Face.Location.X, _leftFaceRegions[i].Face.Location.Y);
}
var rightImagePoints = new PointF[_leftFaceRegions.Count][];
for (int i = 0; i < _leftFaceRegions.Count; i++)
{
rightImagePoints[i] = new PointF[4];
rightImagePoints[i][0] = new PointF(_rightFaceRegions[i].Mouth.Location.X, _rightFaceRegions[i].Mouth.Location.Y);
rightImagePoints[i][1] = new PointF(_rightFaceRegions[i].LeftEye.Location.X, _rightFaceRegions[i].LeftEye.Location.Y);
rightImagePoints[i][2] = new PointF(_rightFaceRegions[i].RightEye.Location.X, _rightFaceRegions[i].RightEye.Location.Y);
rightImagePoints[i][3] = new PointF(_rightFaceRegions[i].Face.Location.X, _rightFaceRegions[i].Face.Location.Y);
}
var intrinsicCameraParameters1 = new IntrinsicCameraParameters();
var intrinsicCameraParameters2 = new IntrinsicCameraParameters();
ExtrinsicCameraParameters extrinsicCameraParameters;
Matrix <double> foundamentalMatrix;
Matrix <double> essentialMatrix;
CameraCalibration.StereoCalibrate(objectPoints, leftImagePoints, rightImagePoints,
intrinsicCameraParameters1, intrinsicCameraParameters2,
new Size(firstLeft.SourceImage.Width, firstLeft.SourceImage.Height),
CALIB_TYPE.DEFAULT,
new MCvTermCriteria(), out extrinsicCameraParameters, out foundamentalMatrix, out essentialMatrix);
Options.StereoCalibrationOptions = new StereoCalibrationOptions
{
EssentialMatrix = essentialMatrix,
ExtrinsicCameraParameters = extrinsicCameraParameters,
FoundamentalMatrix = foundamentalMatrix
};
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
finally
{
IsCalibrating = false;
}
}
