/// <summary>
/// Initializes a new instance of the FaceTracker class from a reference of the Kinect device.
/// <param name="sensor">Reference to kinect sensor instance</param>
/// </summary>
public FaceTracker(KinectSensor sensor)
{
if (sensor == null)
{
throw new ArgumentNullException("sensor");
}
if (!sensor.ColorStream.IsEnabled)
{
throw new InvalidOperationException("Color stream is not enabled yet.");
}
if (!sensor.DepthStream.IsEnabled)
{
throw new InvalidOperationException("Depth stream is not enabled yet.");
}
this.operationMode = OperationMode.Kinect;
this.sensor = sensor;
this.mapper = new CoordinateMapper(sensor.CoordinateMapper.ColorToDepthRelationalParameters);
this.initializationColorImageFormat = sensor.ColorStream.Format;
this.initializationDepthImageFormat = sensor.DepthStream.Format;
var newColorCameraConfig = new CameraConfig(
(uint)sensor.ColorStream.FrameWidth,
(uint)sensor.ColorStream.FrameHeight,
sensor.ColorStream.NominalFocalLengthInPixels,
FaceTrackingImageFormat.FTIMAGEFORMAT_UINT8_B8G8R8X8);
var newDepthCameraConfig = new CameraConfig(
(uint)sensor.DepthStream.FrameWidth,
(uint)sensor.DepthStream.FrameHeight,
sensor.DepthStream.NominalFocalLengthInPixels,
FaceTrackingImageFormat.FTIMAGEFORMAT_UINT16_D13P3);
this.Initialize(newColorCameraConfig, newDepthCameraConfig, IntPtr.Zero, IntPtr.Zero, this.DepthToColorCallback);
}
/// <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);
}
}
private PointF[] GetProjected3DShape(
CameraConfig videoCameraConfig,
float zoomFactor,
Point viewOffset,
IntPtr shapeUnitCoeffPtr,
uint shapeUnitCoeffCount,
IntPtr animUnitCoeffPtr,
uint animUnitCoeffCount,
float scale,
Vector3DF rotation,
Vector3DF translation)
{
this.CheckPtrAndThrow();
PointF[] faceModelProjected3DShape = null;
uint vertexCount = this.VertexCount;
IntPtr faceModel3DVerticesPtr = IntPtr.Zero;
if (shapeUnitCoeffPtr == IntPtr.Zero || shapeUnitCoeffCount == 0)
{
throw new ArgumentException("Invalid shape unit co-efficients", "shapeUnitCoeffPtr");
}
if (animUnitCoeffPtr == IntPtr.Zero || animUnitCoeffCount == 0)
{
throw new ArgumentException("Invalid animation unit co-efficients", "animUnitCoeffPtr");
}
if (vertexCount > 0)
{
try
{
faceModel3DVerticesPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(Vector3DF)) * (int)vertexCount);
this.faceTrackingModelPtr.GetProjectedShape(
videoCameraConfig,
zoomFactor,
viewOffset,
shapeUnitCoeffPtr,
shapeUnitCoeffCount,
animUnitCoeffPtr,
animUnitCoeffCount,
scale,
ref rotation,
ref translation,
faceModel3DVerticesPtr,
vertexCount);
faceModelProjected3DShape = new PointF[vertexCount];
for (int i = 0; i < (int)vertexCount; i++)
{
IntPtr faceModel3DVerticesIthPtr;
if (IntPtr.Size == 8)
{
// 64bit
faceModel3DVerticesIthPtr = new IntPtr(faceModel3DVerticesPtr.ToInt64() + (i * Marshal.SizeOf(typeof(PointF))));
}
else
{
// 32bit
faceModel3DVerticesIthPtr = new IntPtr(faceModel3DVerticesPtr.ToInt32() + (i * Marshal.SizeOf(typeof(PointF))));
}
faceModelProjected3DShape[i] = (PointF)Marshal.PtrToStructure(faceModel3DVerticesIthPtr, typeof(PointF));
}
}
finally
{
if (faceModel3DVerticesPtr != IntPtr.Zero)
{
Marshal.FreeHGlobal(faceModel3DVerticesPtr);
}
}
}
return faceModelProjected3DShape;
}
/// <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>
/// Initializes a new instance of the FaceTracker class from a reference of the Kinect device.
/// <param name="sensor">Reference to kinect sensor instance</param>
/// </summary>
public FaceTracker(KinectSensor sensor)
{
if (sensor == null)
{
throw new ArgumentNullException("sensor");
}
if (!sensor.ColorStream.IsEnabled)
{
throw new InvalidOperationException("Color stream is not enabled yet.");
}
if (!sensor.DepthStream.IsEnabled)
{
throw new InvalidOperationException("Depth stream is not enabled yet.");
}
this.operationMode = OperationMode.Kinect;
this.sensor = sensor;
this.initializationColorImageFormat = sensor.ColorStream.Format;
this.initializationDepthImageFormat = sensor.DepthStream.Format;
var newColorCameraConfig = new CameraConfig(
(uint)sensor.ColorStream.FrameWidth,
(uint)sensor.ColorStream.FrameHeight,
sensor.ColorStream.NominalFocalLengthInPixels,
FaceTrackingImageFormat.FTIMAGEFORMAT_UINT8_B8G8R8X8);
var newDepthCameraConfig = new CameraConfig(
(uint)sensor.DepthStream.FrameWidth,
(uint)sensor.DepthStream.FrameHeight,
sensor.DepthStream.NominalFocalLengthInPixels,
FaceTrackingImageFormat.FTIMAGEFORMAT_UINT16_D13P3);
this.Initialize(newColorCameraConfig, newDepthCameraConfig, IntPtr.Zero, IntPtr.Zero, this.DepthToColorCallback);
}
private PointF[] GetProjected3DShape(
CameraConfig videoCameraConfig,
float zoomFactor,
Point viewOffset,
IntPtr shapeUnitCoeffPtr,
uint shapeUnitCoeffCount,
IntPtr animUnitCoeffPtr,
uint animUnitCoeffCount,
float scale,
Vector3DF rotation,
Vector3DF translation)
{
this.CheckPtrAndThrow();
PointF[] faceModelProjected3DShape = null;
uint vertexCount = this.VertexCount;
IntPtr faceModel3DVerticesPtr = IntPtr.Zero;
if (shapeUnitCoeffPtr == IntPtr.Zero || shapeUnitCoeffCount == 0)
{
throw new ArgumentException("Invalid shape unit co-efficients", "shapeUnitCoeffPtr");
}
if (animUnitCoeffPtr == IntPtr.Zero || animUnitCoeffCount == 0)
{
throw new ArgumentException("Invalid animation unit co-efficients", "animUnitCoeffPtr");
}
if (vertexCount > 0)
{
try
{
faceModel3DVerticesPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(Vector3DF)) * (int)vertexCount);
this.faceTrackingModelPtr.GetProjectedShape(
videoCameraConfig,
zoomFactor,
viewOffset,
shapeUnitCoeffPtr,
shapeUnitCoeffCount,
animUnitCoeffPtr,
animUnitCoeffCount,
scale,
ref rotation,
ref translation,
faceModel3DVerticesPtr,
vertexCount);
faceModelProjected3DShape = new PointF[vertexCount];
for (int i = 0; i < (int)vertexCount; i++)
{
IntPtr faceModel3DVerticesIthPtr;
if (IntPtr.Size == 8)
{
// 64bit
faceModel3DVerticesIthPtr = new IntPtr(faceModel3DVerticesPtr.ToInt64() + (i * Marshal.SizeOf(typeof(PointF))));
}
else
{
// 32bit
faceModel3DVerticesIthPtr = new IntPtr(faceModel3DVerticesPtr.ToInt32() + (i * Marshal.SizeOf(typeof(PointF))));
}
faceModelProjected3DShape[i] = (PointF)Marshal.PtrToStructure(faceModel3DVerticesIthPtr, typeof(PointF));
}
}
finally
{
if (faceModel3DVerticesPtr != IntPtr.Zero)
{
Marshal.FreeHGlobal(faceModel3DVerticesPtr);
}
}
}
return(faceModelProjected3DShape);
}