/// <summary>
/// Starts face tracking from Kinect input data. Track() detects a face
/// based on the passed parameters, then identifies characteristic
/// points and begins tracking. The first call to this API is more
/// expensive, but if the tracking succeeds then subsequent calls use
/// the tracking information generated from first call and is faster,
/// until a tracking failure happens.
/// </summary>
/// <param name="colorImageFormat">format of the colorImage array</param>
/// <param name="colorImage">Input color image frame retrieved from Kinect sensor</param>
/// <param name="depthImageFormat">format of the depthImage array</param>
/// <param name="depthImage">Input depth image frame retrieved from Kinect sensor</param>
/// <param name="skeletonOfInterest">Input skeleton to track. Head & shoulder joints in the skeleton are used to calculate the head vector</param>
/// <param name="regionOfInterest">Region of interest in the passed video frame where the face tracker should search for a face to initiate tracking.
/// Passing Rectangle.Empty (default) causes the entire frame to be searched.</param>
/// <returns>Returns computed face tracking results for this image frame</returns>
private FaceTrackFrame Track(
ColorImageFormat colorImageFormat,
byte[] colorImage,
DepthImageFormat depthImageFormat,
short[] depthImage,
Skeleton skeletonOfInterest,
Rect regionOfInterest)
{
this.totalTracks++;
this.trackStopwatch.Start();
if (this.operationMode != OperationMode.Kinect)
{
throw new InvalidOperationException(
"Cannot use Track with Kinect input types when face tracker is initialized for tracking videos/images");
}
if (colorImage == null)
{
throw new ArgumentNullException("colorImage");
}
if (depthImage == null)
{
throw new ArgumentNullException("depthImage");
}
if (colorImageFormat != this.initializationColorImageFormat)
{
throw new InvalidOperationException("Color image frame format different from initialization");
}
if (depthImageFormat != this.initializationDepthImageFormat)
{
throw new InvalidOperationException("Depth image frame format different from initialization");
}
if (colorImage.Length != this.videoCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("colorImage", "Color image data size is needs to match initialization configuration.");
}
if (depthImage.Length != this.depthCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("depthImage", "Depth image data size is needs to match initialization configuration.");
}
int hr;
HeadPoints headPointsObj = null;
Vector3DF[] headPoints = GetHeadPointsFromSkeleton(skeletonOfInterest);
if (headPoints != null && headPoints.Length == 2)
{
headPointsObj = new HeadPoints {
Points = headPoints
};
}
this.copyStopwatch.Start();
this.colorFaceTrackingImage.CopyFrom(colorImage);
this.depthFaceTrackingImage.CopyFrom(depthImage);
this.copyStopwatch.Stop();
var sensorData = new SensorData(this.colorFaceTrackingImage, this.depthFaceTrackingImage, DefaultZoomFactor, Point.Empty);
FaceTrackingSensorData faceTrackSensorData = sensorData.FaceTrackingSensorData;
this.startOrContinueTrackingStopwatch.Start();
if (this.trackSucceeded)
{
hr = this.faceTrackerInteropPtr.ContinueTracking(ref faceTrackSensorData, null /*headPointsObj*/, this.frame.ResultPtr);
}
else
{
hr = this.faceTrackerInteropPtr.StartTracking(
ref faceTrackSensorData, null /*ref regionOfInterest*/, null /*headPointsObj*/, this.frame.ResultPtr);
}
this.startOrContinueTrackingStopwatch.Stop();
this.trackSucceeded = hr == (int)ErrorCode.Success && this.frame.Status == ErrorCode.Success;
this.trackStopwatch.Stop();
if (this.trackSucceeded)
{
++this.totalSuccessTracks;
this.totalSuccessTrackMs += this.trackStopwatch.ElapsedMilliseconds - this.lastSuccessTrackElapsedMs;
this.lastSuccessTrackElapsedMs = this.trackStopwatch.ElapsedMilliseconds;
}
return(this.frame);
}
public IEnumerable<WeightedRect> DetectFaces( ColorImageFormat colorImageFormat,
byte[] colorImage,
DepthImageFormat depthImageFormat,
short[] depthImage, Rect roi)
{
if (this.operationMode != OperationMode.Kinect)
{
throw new InvalidOperationException(
"Cannot use Track with Kinect input types when face tracker is initialized for tracking videos/images");
}
if (colorImage == null)
{
throw new ArgumentNullException("colorImage");
}
if (depthImage == null)
{
throw new ArgumentNullException("depthImage");
}
if (colorImageFormat != this.initializationColorImageFormat)
{
throw new InvalidOperationException("Color image frame format different from initialization");
}
if (depthImageFormat != this.initializationDepthImageFormat)
{
throw new InvalidOperationException("Depth image frame format different from initialization");
}
if (colorImage.Length != this.videoCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("colorImage", "Color image data size is needs to match initialization configuration.");
}
if (depthImage.Length != this.depthCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("depthImage", "Depth image data size is needs to match initialization configuration.");
}
this.copyStopwatch.Start();
this.colorFaceTrackingImage.CopyFrom(colorImage);
this.depthFaceTrackingImage.CopyFrom(depthImage);
this.copyStopwatch.Stop();
var sensorData = new SensorData(this.colorFaceTrackingImage, this.depthFaceTrackingImage, DefaultZoomFactor, Point.Empty);
FaceTrackingSensorData faceTrackSensorData = sensorData.FaceTrackingSensorData;
int hr;
uint count = 4;
WeightedRect[] rects = new WeightedRect[count];
GCHandle handle = GCHandle.Alloc(rects, GCHandleType.Pinned);
try
{
IntPtr rectsPtr = handle.AddrOfPinnedObject();
hr = this.faceTrackerInteropPtr.DetectFaces(ref faceTrackSensorData, ref roi, rectsPtr, ref count);
}
finally
{
if (handle.IsAllocated)
{
handle.Free();
}
}
this.trackSucceeded = hr == (int)ErrorCode.Success;
return rects.Take((int)count);
}
/// <summary>
/// Starts face tracking from Kinect input data. Track() detects a face
/// based on the passed parameters, then identifies characteristic
/// points and begins tracking. The first call to this API is more
/// expensive, but if the tracking succeeds then subsequent calls use
/// the tracking information generated from first call and is faster,
/// until a tracking failure happens.
/// </summary>
/// <param name="colorImageFormat">format of the colorImage array</param>
/// <param name="colorImage">Input color image frame retrieved from Kinect sensor</param>
/// <param name="depthImageFormat">format of the depthImage array</param>
/// <param name="depthImage">Input depth image frame retrieved from Kinect sensor</param>
/// <param name="skeletonOfInterest">Input skeleton to track. Head & shoulder joints in the skeleton are used to calculate the head vector</param>
/// <param name="regionOfInterest">Region of interest in the passed video frame where the face tracker should search for a face to initiate tracking.
/// Passing Rectangle.Empty (default) causes the entire frame to be searched.</param>
/// <returns>Returns computed face tracking results for this image frame</returns>
private FaceTrackFrame Track(
ColorImageFormat colorImageFormat,
byte[] colorImage,
DepthImageFormat depthImageFormat,
short[] depthImage,
Skeleton skeletonOfInterest,
Rect regionOfInterest)
{
this.totalTracks++;
this.trackStopwatch.Start();
if (this.operationMode != OperationMode.Kinect)
{
throw new InvalidOperationException(
"Cannot use Track with Kinect input types when face tracker is initialized for tracking videos/images");
}
if (colorImage == null)
{
throw new ArgumentNullException("colorImage");
}
if (depthImage == null)
{
throw new ArgumentNullException("depthImage");
}
if (colorImageFormat != this.initializationColorImageFormat)
{
throw new InvalidOperationException("Color image frame format different from initialization");
}
if (depthImageFormat != this.initializationDepthImageFormat)
{
throw new InvalidOperationException("Depth image frame format different from initialization");
}
if (colorImage.Length != this.videoCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("colorImage", "Color image data size is needs to match initialization configuration.");
}
if (depthImage.Length != this.depthCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("depthImage", "Depth image data size is needs to match initialization configuration.");
}
int hr;
HeadPoints headPointsObj = null;
Vector3DF[] headPoints = GetHeadPointsFromSkeleton(skeletonOfInterest);
if (headPoints != null && headPoints.Length == 2)
{
headPointsObj = new HeadPoints { Points = headPoints };
}
this.copyStopwatch.Start();
this.colorFaceTrackingImage.CopyFrom(colorImage);
this.depthFaceTrackingImage.CopyFrom(depthImage);
this.copyStopwatch.Stop();
var sensorData = new SensorData(this.colorFaceTrackingImage, this.depthFaceTrackingImage, DefaultZoomFactor, Point.Empty);
FaceTrackingSensorData faceTrackSensorData = sensorData.FaceTrackingSensorData;
this.startOrContinueTrackingStopwatch.Start();
if (this.trackSucceeded)
{
hr = this.faceTrackerInteropPtr.ContinueTracking(ref faceTrackSensorData, headPointsObj, this.frame.ResultPtr);
}
else
{
hr = this.faceTrackerInteropPtr.StartTracking(
ref faceTrackSensorData, ref regionOfInterest, headPointsObj, this.frame.ResultPtr);
}
this.startOrContinueTrackingStopwatch.Stop();
this.trackSucceeded = hr == (int)ErrorCode.Success && this.frame.Status == ErrorCode.Success;
this.trackStopwatch.Stop();
if (this.trackSucceeded)
{
++this.totalSuccessTracks;
this.totalSuccessTrackMs += this.trackStopwatch.ElapsedMilliseconds - this.lastSuccessTrackElapsedMs;
this.lastSuccessTrackElapsedMs = this.trackStopwatch.ElapsedMilliseconds;
}
return this.frame;
}
public IEnumerable <WeightedRect> DetectFaces(ColorImageFormat colorImageFormat,
byte[] colorImage,
DepthImageFormat depthImageFormat,
short[] depthImage, Rect roi)
{
if (this.operationMode != OperationMode.Kinect)
{
throw new InvalidOperationException(
"Cannot use Track with Kinect input types when face tracker is initialized for tracking videos/images");
}
if (colorImage == null)
{
throw new ArgumentNullException("colorImage");
}
if (depthImage == null)
{
throw new ArgumentNullException("depthImage");
}
if (colorImageFormat != this.initializationColorImageFormat)
{
throw new InvalidOperationException("Color image frame format different from initialization");
}
if (depthImageFormat != this.initializationDepthImageFormat)
{
throw new InvalidOperationException("Depth image frame format different from initialization");
}
if (colorImage.Length != this.videoCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("colorImage", "Color image data size is needs to match initialization configuration.");
}
if (depthImage.Length != this.depthCameraConfig.FrameBufferLength)
{
throw new ArgumentOutOfRangeException("depthImage", "Depth image data size is needs to match initialization configuration.");
}
this.copyStopwatch.Start();
this.colorFaceTrackingImage.CopyFrom(colorImage);
this.depthFaceTrackingImage.CopyFrom(depthImage);
this.copyStopwatch.Stop();
var sensorData = new SensorData(this.colorFaceTrackingImage, this.depthFaceTrackingImage, DefaultZoomFactor, Point.Empty);
FaceTrackingSensorData faceTrackSensorData = sensorData.FaceTrackingSensorData;
int hr;
uint count = 4;
WeightedRect[] rects = new WeightedRect[count];
GCHandle handle = GCHandle.Alloc(rects, GCHandleType.Pinned);
try
{
IntPtr rectsPtr = handle.AddrOfPinnedObject();
hr = this.faceTrackerInteropPtr.DetectFaces(ref faceTrackSensorData, ref roi, rectsPtr, ref count);
}
finally
{
if (handle.IsAllocated)
{
handle.Free();
}
}
this.trackSucceeded = hr == (int)ErrorCode.Success;
return(rects.Take((int)count));
}