人脸跟踪三维点云获取及三角面片分割显示（kinect2.0 SDK开发 ）

#include "stdafx.h"#include "opencv2/opencv.hpp"#include "Kinect.h"#include "kinect.face.h"#include "iostream"#include "fstream"using namespace cv;using namespace std;//安全释放指针template<class Interface>inline void SafeRelease(Interface *& pInterfaceToRelease){if (pInterfaceToRelease != NULL){pInterfaceToRelease->Release();pInterfaceToRelease = NULL;}}//三角片数据结构 struct TRIANGLE_DESC{Point pt1, pt2, pt3; };//计算三角面片vector<TRIANGLE_DESC> delaunayAlgorithm(const Rect boundRc, const vector<Point>& points){if (points.empty()||boundRc.width<=0||boundRc.height<=0){return vector<TRIANGLE_DESC>();}vector<TRIANGLE_DESC> result;vector<Vec6f> _temp_result;Subdiv2D subdiv2d(boundRc);for (const auto point : points){subdiv2d.insert(Point2f((float)point.x, (float)point.y));}subdiv2d.getTriangleList(_temp_result);for (const auto _tmp_vec : _temp_result){Point pt1((int)_tmp_vec[0], (int)_tmp_vec[1]);Point pt2((int)_tmp_vec[2], (int)_tmp_vec[3]);Point pt3((int)_tmp_vec[4], (int)_tmp_vec[5]);if (boundRc.contains(pt1) && boundRc.contains(pt2) && boundRc.contains(pt3))  //去除最外头的三角形{TRIANGLE_DESC vec1;vec1.pt1 = pt1;vec1.pt2= pt2;vec1.pt3= pt3;result.push_back(vec1);}}return result;}//画三角面片void drawTriangel(Mat &srcImg,Rect rectImg,vector<Point> pointsVec,int index){//每个模型的三角面片if (pointsVec.size() <= 2)  //防止画面片时报错{return ;}Rect rect1 = boundingRect(pointsVec);rect1 = rect1&rectImg;string label = format("Person %d", index);putText(srcImg, label, rect1.tl(), FONT_HERSHEY_SIMPLEX, 3.0f, Scalar(220, 0, 220), 4);vector<TRIANGLE_DESC> triangles = delaunayAlgorithm(rect1, pointsVec);rectangle(srcImg, rect1, Scalar(0, 0, 255), 5);for (int triangleCount = 0; triangleCount < triangles.size(); triangleCount++){TRIANGLE_DESC triangle = triangles[triangleCount];line(srcImg, triangle.pt1, triangle.pt2, Scalar(255, 0, 0), 2);line(srcImg, triangle.pt2, triangle.pt3, Scalar(255, 0, 0), 2);line(srcImg, triangle.pt3, triangle.pt1, Scalar(255, 0, 0), 2);}//每个模型的三角面片}int _tmain(int argc, _TCHAR* argv[]){IKinectSensor *kinectSensor;HRESULT hr = GetDefaultKinectSensor(&kinectSensor);kinectSensor->Open();//开启深度数据获取IDepthFrameSource* depths = nullptr;kinectSensor->get_DepthFrameSource(&depths);     // 获取深度数据源  int height, width;                               //图像宽和高IFrameDescription   * myDescription = nullptr;  //取得深度数据的分辨率depths->get_FrameDescription(&myDescription);myDescription->get_Height(&height);myDescription->get_Width(&width);myDescription->Release();IDepthFrameReader* depthRead = nullptr;depths->OpenReader(&depthRead); // 打开深度解析器  cout << "width " << width << "  height " << height << endl;Mat img16u(height, width, CV_16UC1);Mat img8u(height, width, CV_8UC1);//开启彩色数据获取IColorFrameSource* colorFramSouce = nullptr;kinectSensor->get_ColorFrameSource(&colorFramSouce); // 获取图像数据源  IColorFrameReader* colorFramRead = nullptr;colorFramSouce->OpenReader(&colorFramRead); // 打开解析器IFrameDescription* frameDs = nullptr;colorFramSouce->get_FrameDescription(&frameDs); // 获取信息的属性  int heightColor, widthColor;frameDs->get_Height(&heightColor);frameDs->get_Width(&widthColor);cout << "heightColor " << heightColor << "  widthColor " << widthColor << endl;Mat imgColor(heightColor, widthColor, CV_8UC4);//开启骨骼数据获取IBodyFrameSource    * myBodySource = nullptr;       //sourcekinectSensor->get_BodyFrameSource(&myBodySource);int heightBody, widthBody;IBodyFrameReader    * myBodyReader = nullptr;       //readermyBodySource->OpenReader(&myBodyReader);int myBodyCount = 0;myBodySource->get_BodyCount(&myBodyCount);ICoordinateMapper   * myMapper = nullptr;kinectSensor->get_CoordinateMapper(&myMapper);//高清脸部跟踪IHighDefinitionFaceFrameSource* hdfacesource[BODY_COUNT];IHighDefinitionFaceFrameReader* hdfacereader[BODY_COUNT];IFaceModelBuilder* facemodelbuilder[BODY_COUNT];  // 创建面部特征对齐bool produce[BODY_COUNT] = { false };IFaceAlignment* facealignment[BODY_COUNT];IFaceModel* facemodel[BODY_COUNT];vector<vector<float>> deformations(BODY_COUNT, vector<float>(FaceShapeDeformations_Count));for (int count = 0; count < BODY_COUNT; count++){CreateHighDefinitionFaceFrameSource(kinectSensor, &hdfacesource[count]);hdfacesource[count]->OpenReader(&hdfacereader[count]);hdfacesource[count]->OpenModelBuilder(FaceModelBuilderAttributes_None, &facemodelbuilder[count]);facemodelbuilder[count]->BeginFaceDataCollection();CreateFaceAlignment(&facealignment[count]);CreateFaceModel(1.0f, FaceShapeDeformations_Count, &deformations[count][0], &facemodel[count]);}UINT32 vertex = 0;GetFaceModelVertexCount(&vertex);  //人脸顶点数量，1347while (true){//获取深度摄像头数据IDepthFrame* depthFram = nullptr;if (depthRead->AcquireLatestFrame(&depthFram) == S_OK) //通过Reader尝试获取最新的一帧深度数据，放入深度帧中,并判断是否成功获取{depthFram->CopyFrameDataToArray(height * width, (UINT16 *)img16u.data); //先把数据存入16位的图像矩阵中img16u.convertTo(img8u, CV_8UC1, 255.0 / 4500);   //再把16位转换为8位imshow("深度图像", img8u);depthFram->Release();}//获取RGB摄像头数据IColorFrame* colorFram = nullptr;if (colorFramRead->AcquireLatestFrame(&colorFram) == S_OK) //通过Reader尝试获取最新的一帧深度数据，放入深度帧中,并判断是否成功获取{colorFram->CopyConvertedFrameDataToArray(heightColor*widthColor * 4, (BYTE*)imgColor.data, ColorImageFormat_Bgra);colorFram->Release();}//获取人骨胳数据IBodyFrame *myBodyFrame = nullptr;if (myBodyReader->AcquireLatestFrame(&myBodyFrame) == S_OK){myBodyCount = 0;IBody   ** bodyArr = nullptr;myBodySource->get_BodyCount(&myBodyCount);bodyArr = new IBody *[myBodyCount];for (int i = 0; i < myBodyCount; i++)   //bodyArr的初始化bodyArr[i] = nullptr;if (myBodyFrame->GetAndRefreshBodyData(myBodyCount, bodyArr) == S_OK){for (int i = 0; i < myBodyCount; i++)   //遍历6个人(可能用不完){BOOLEAN     result = false;if (bodyArr[i]->get_IsTracked(&result) == S_OK && result)   //判断此人是否被侦测到{cout << "Body " << i << " tracked!" << endl;UINT64 trackingId = _UI64_MAX;if (bodyArr[i]->get_TrackingId(&trackingId) == S_OK){hdfacesource[i]->put_TrackingId(trackingId);  //检测到的人体索映值传入}}}}for (int i = 0; i < myBodyCount; i++){IHighDefinitionFaceFrame* hdfaceframe = nullptr;if (hdfacereader[i]->AcquireLatestFrame(&hdfaceframe) == S_OK && hdfaceframe != nullptr){BOOLEAN tracked = false;if (SUCCEEDED(hdfaceframe->get_IsTrackingIdValid(&tracked)) && tracked){if (SUCCEEDED(hdfaceframe->GetAndRefreshFaceAlignmentResult(facealignment[i])) && facealignment[i] != nullptr){if (!produce[i]){FaceModelBuilderCollectionStatus collection;facemodelbuilder[i]->get_CollectionStatus(&collection);if (collection == FaceModelBuilderCollectionStatus::FaceModelBuilderCollectionStatus_Complete){cout << "Status : Complete" << endl;putText(imgColor, "Status : Complete", Point(50, 50), FONT_HERSHEY_SIMPLEX, 1.0f, Scalar(0, 0, 255, 255), 2);IFaceModelData* facemodeldata = nullptr;if (SUCCEEDED(facemodelbuilder[i]->GetFaceData(&facemodeldata)) && facemodeldata != nullptr){if (SUCCEEDED(facemodeldata->ProduceFaceModel(&facemodel[i])) && facemodel[i] != nullptr){produce[i] = true;}}SafeRelease(facemodeldata);}vector<CameraSpacePoint> facePoints(vertex);  //facePoints(vertex)存的三维点 x,y,z坐标//vector<Point> points3Dto2D;//全部点有的不在平面上vector<Point> inImgrectPoints;//在图像内的点Rect rectImg = Rect(0, 0, widthColor, heightColor);if (SUCCEEDED(facemodel[i]->CalculateVerticesForAlignment(facealignment[i], vertex, &facePoints[0]))){ofstream outfile3D("Face3Ddata.txt");ofstream outfile2D("Face2Ddata.txt");//#pragma omp parallel forfor (int point = 0; point < vertex; point+=1){ColorSpacePoint colorSpacePoint;myMapper->MapCameraPointToColorSpace(facePoints[point], &colorSpacePoint);circle(imgColor, Point(colorSpacePoint.X, colorSpacePoint.Y), 4, Scalar(0, 255, 0, 255), -1);//points3Dto2D.push_back(Point(colorSpacePoint.X, colorSpacePoint.Y));  //注意：这里映射的点不一定在彩色图像上if (rectImg.contains(Point(colorSpacePoint.X, colorSpacePoint.Y))){inImgrectPoints.push_back(Point(colorSpacePoint.X, colorSpacePoint.Y));outfile2D << colorSpacePoint.X << " \t" << colorSpacePoint.Y << endl;}outfile3D << facePoints[point].X << " \t" << facePoints[point].Y <<" \t"<< facePoints[point].Z << endl;}outfile2D.close();outfile3D.close();//画每个模型的三角面片//drawTriangel(imgColor,rectImg,inImgrectPoints,i);}}}} }  }Mat imgShow;//imshow("原图", imgColor);resize(imgColor,imgShow,Size(800,480));imshow("彩色图", imgShow);myBodyFrame->Release();      }waitKey(1);  }depthRead->Release();        //释放不用的变量并且关闭感应器colorFramRead->Release();kinectSensor->Close();return 0;}

这里注意下Kinect的开发环境配置，win8以上（我的win10），usb3.0接口

安装kinect2.0SDk，安装后一定重启，关机后再开似乎效果不一样

kinect.face.dll文件要复制到工程目录下