diff options
| -rw-r--r-- | tracker-kinect-face/kinect_face_tracker.cpp | 86 | ||||
| -rw-r--r-- | tracker-kinect-face/kinect_face_tracker.h | 38 |
2 files changed, 56 insertions, 68 deletions
diff --git a/tracker-kinect-face/kinect_face_tracker.cpp b/tracker-kinect-face/kinect_face_tracker.cpp index 5663de0f..9f4f133b 100644 --- a/tracker-kinect-face/kinect_face_tracker.cpp +++ b/tracker-kinect-face/kinect_face_tracker.cpp @@ -7,6 +7,8 @@ #include "compat/check-visible.hpp" +static const int KColorWidth = 1920; +static const int KColorHeight = 1080; /// bool IsValidRect(const RectI& aRect) @@ -82,62 +84,48 @@ bool IsNullPoint(const CameraSpacePoint& aPoint) } -KinectFaceTracker::KinectFaceTracker(): - m_pKinectSensor(nullptr), - m_pCoordinateMapper(nullptr), - m_pColorFrameReader(nullptr), - m_pColorRGBX(nullptr), - m_pBodyFrameReader(nullptr), - iLastFacePosition{0,0,0}, - iFacePositionCenter{ 0,0,0 }, - iFacePosition{ 0,0,0 }, - iLastFaceRotation{ 0,0,0 }, - iFaceRotationCenter{ 0,0,0 }, - iFaceRotation{ 0,0,0 } +KinectFaceTracker::KinectFaceTracker() { - m_pFaceFrameSource = nullptr; - m_pFaceFrameReader = nullptr; - // create heap storage for color pixel data in RGBX format - m_pColorRGBX = new RGBQUAD[cColorWidth * cColorHeight]; + iColorRGBX = new RGBQUAD[KColorWidth * KColorHeight]; } KinectFaceTracker::~KinectFaceTracker() { - if (m_pColorRGBX) + if (iColorRGBX) { - delete[] m_pColorRGBX; - m_pColorRGBX = nullptr; + delete[] iColorRGBX; + iColorRGBX = nullptr; } // clean up Direct2D //SafeRelease(m_pD2DFactory); // done with face sources and readers - SafeRelease(m_pFaceFrameSource); - SafeRelease(m_pFaceFrameReader); + SafeRelease(iFaceFrameSource); + SafeRelease(iFaceFrameReader); // done with body frame reader - SafeRelease(m_pBodyFrameReader); + SafeRelease(iBodyFrameReader); // done with color frame reader - SafeRelease(m_pColorFrameReader); + SafeRelease(iColorFrameReader); // done with coordinate mapper - SafeRelease(m_pCoordinateMapper); + SafeRelease(iCoordinateMapper); // close the Kinect Sensor - if (m_pKinectSensor) + if (iKinectSensor) { - m_pKinectSensor->Close(); + iKinectSensor->Close(); } - SafeRelease(m_pKinectSensor); + SafeRelease(iKinectSensor); } module_status KinectFaceTracker::start_tracker(QFrame* aFrame) { - t.start(); + iTimer.start(); if (SUCCEEDED(InitializeDefaultSensor())) { @@ -170,12 +158,12 @@ bool KinectFaceTracker::center() // void KinectFaceTracker::data(double *data) { - const double dt = t.elapsed_seconds(); + const double dt = iTimer.elapsed_seconds(); const double KMinDelayInSeconds = 1.0 / 30.0; // Pointless running faster than Kinect hardware itself if (dt > KMinDelayInSeconds) { - t.start(); // Reset our timer + iTimer.start(); // Reset our timer //OutputDebugStringA("Updating frame!\n"); Update(); ExtractFaceRotationInDegrees(&iFaceRotationQuaternion, &iFaceRotation.X, &iFaceRotation.Y, &iFaceRotation.Z); @@ -254,28 +242,28 @@ HRESULT KinectFaceTracker::InitializeDefaultSensor() HRESULT hr; // Get and open Kinect sensor - hr = GetDefaultKinectSensor(&m_pKinectSensor); + hr = GetDefaultKinectSensor(&iKinectSensor); if (SUCCEEDED(hr)) { - hr = m_pKinectSensor->Open(); + hr = iKinectSensor->Open(); } // TODO: check if we still need that guy if (SUCCEEDED(hr)) { - hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper); + hr = iKinectSensor->get_CoordinateMapper(&iCoordinateMapper); } // Create color frame reader if (SUCCEEDED(hr)) { UniqueInterface<IColorFrameSource> colorFrameSource; - hr = m_pKinectSensor->get_ColorFrameSource(colorFrameSource.PtrPtr()); + hr = iKinectSensor->get_ColorFrameSource(colorFrameSource.PtrPtr()); colorFrameSource.Reset(); if (SUCCEEDED(hr)) { - hr = colorFrameSource->OpenReader(&m_pColorFrameReader); + hr = colorFrameSource->OpenReader(&iColorFrameReader); } } @@ -283,12 +271,12 @@ HRESULT KinectFaceTracker::InitializeDefaultSensor() if (SUCCEEDED(hr)) { UniqueInterface<IBodyFrameSource> bodyFrameSource; - hr = m_pKinectSensor->get_BodyFrameSource(bodyFrameSource.PtrPtr()); + hr = iKinectSensor->get_BodyFrameSource(bodyFrameSource.PtrPtr()); bodyFrameSource.Reset(); if (SUCCEEDED(hr)) { - hr = bodyFrameSource->OpenReader(&m_pBodyFrameReader); + hr = bodyFrameSource->OpenReader(&iBodyFrameReader); } } @@ -296,14 +284,14 @@ HRESULT KinectFaceTracker::InitializeDefaultSensor() if (SUCCEEDED(hr)) { // create the face frame source by specifying the required face frame features - hr = CreateHighDefinitionFaceFrameSource(m_pKinectSensor, &m_pFaceFrameSource); + hr = CreateHighDefinitionFaceFrameSource(iKinectSensor, &iFaceFrameSource); } // Create HD face frame reader if (SUCCEEDED(hr)) { // open the corresponding reader - hr = m_pFaceFrameSource->OpenReader(&m_pFaceFrameReader); + hr = iFaceFrameSource->OpenReader(&iFaceFrameReader); } return hr; @@ -316,13 +304,13 @@ HRESULT KinectFaceTracker::InitializeDefaultSensor() /// </summary> void KinectFaceTracker::Update() { - if (!m_pColorFrameReader || !m_pBodyFrameReader) + if (!iColorFrameReader || !iBodyFrameReader) { return; } IColorFrame* pColorFrame = nullptr; - HRESULT hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame); + HRESULT hr = iColorFrameReader->AcquireLatestFrame(&pColorFrame); if (SUCCEEDED(hr)) { @@ -373,10 +361,10 @@ void KinectFaceTracker::Update() { hr = pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize, reinterpret_cast<BYTE**>(&pBuffer)); } - else if (m_pColorRGBX) + else if (iColorRGBX) { - pBuffer = m_pColorRGBX; - nBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD); + pBuffer = iColorRGBX; + nBufferSize = KColorWidth * KColorHeight * sizeof(RGBQUAD); hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize, reinterpret_cast<BYTE*>(pBuffer), ColorImageFormat_Rgba); } else @@ -389,7 +377,7 @@ void KinectFaceTracker::Update() if (SUCCEEDED(hr)) { // Setup our image - QImage image((const unsigned char*)pBuffer, cColorWidth, cColorHeight, sizeof(RGBQUAD)*cColorWidth, QImage::Format_RGBA8888); + QImage image((const unsigned char*)pBuffer, KColorWidth, KColorHeight, sizeof(RGBQUAD)*KColorWidth, QImage::Format_RGBA8888); if (IsValidRect(iFaceBox)) { // Draw our face bounding box @@ -423,10 +411,10 @@ HRESULT KinectFaceTracker::UpdateBodyData(IBody** ppBodies) { HRESULT hr = E_FAIL; - if (m_pBodyFrameReader != nullptr) + if (iBodyFrameReader != nullptr) { IBodyFrame* pBodyFrame = nullptr; - hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame); + hr = iBodyFrameReader->AcquireLatestFrame(&pBodyFrame); if (SUCCEEDED(hr)) { hr = pBodyFrame->GetAndRefreshBodyData(BODY_COUNT, ppBodies); @@ -539,7 +527,7 @@ void KinectFaceTracker::ProcessFaces() if (SUCCEEDED(hr)) { // Tell our face source to use the given body id - hr = m_pFaceFrameSource->put_TrackingId(iTrackingId); + hr = iFaceFrameSource->put_TrackingId(iTrackingId); //OutputDebugStringA("Tracking new body!\n"); } } @@ -549,7 +537,7 @@ void KinectFaceTracker::ProcessFaces() IHighDefinitionFaceFrame* pFaceFrame = nullptr; if (SUCCEEDED(hr)) { - hr = m_pFaceFrameReader->AcquireLatestFrame(&pFaceFrame); + hr = iFaceFrameReader->AcquireLatestFrame(&pFaceFrame); } BOOLEAN bFaceTracked = false; diff --git a/tracker-kinect-face/kinect_face_tracker.h b/tracker-kinect-face/kinect_face_tracker.h index 9f75507d..a6d4e89b 100644 --- a/tracker-kinect-face/kinect_face_tracker.h +++ b/tracker-kinect-face/kinect_face_tracker.h @@ -64,13 +64,9 @@ public: bool center() override; private: - Timer t; + // Kinect stuff - static const int cColorWidth = 1920; - static const int cColorHeight = 1080; - - void Update(); HRESULT InitializeDefaultSensor(); void ProcessFaces(); @@ -78,39 +74,43 @@ private: void ExtractFaceRotationInDegrees(const Vector4* pQuaternion, float* pPitch, float* pYaw, float* pRoll); static IBody* FindClosestBody(IBody** aBodies); static IBody* FindTrackedBodyById(IBody** aBodies,UINT64 aTrackingId); + + // + Timer iTimer; // Current Kinect - IKinectSensor* m_pKinectSensor; + IKinectSensor* iKinectSensor = nullptr; // Coordinate mapper - ICoordinateMapper* m_pCoordinateMapper; + ICoordinateMapper* iCoordinateMapper = nullptr; // Color reader - IColorFrameReader* m_pColorFrameReader; + IColorFrameReader* iColorFrameReader = nullptr; // Body reader - IBodyFrameReader* m_pBodyFrameReader; + IBodyFrameReader* iBodyFrameReader = nullptr; // Face sources - IHighDefinitionFaceFrameSource* m_pFaceFrameSource; + IHighDefinitionFaceFrameSource* iFaceFrameSource = nullptr; // Face readers - IHighDefinitionFaceFrameReader* m_pFaceFrameReader; + IHighDefinitionFaceFrameReader* iFaceFrameReader = nullptr; // - RGBQUAD* m_pColorRGBX; + RGBQUAD* iColorRGBX = nullptr; RectI iFaceBox = { 0 }; - CameraSpacePoint iLastFacePosition; - CameraSpacePoint iFacePosition; - CameraSpacePoint iFacePositionCenter; + // Face position + CameraSpacePoint iLastFacePosition = { 0 }; + CameraSpacePoint iFacePosition = { 0 }; + CameraSpacePoint iFacePositionCenter = { 0 }; - Vector4 iFaceRotationQuaternion; + Vector4 iFaceRotationQuaternion = { 0 }; // As Yaw, Pitch, Roll - CameraSpacePoint iLastFaceRotation; - CameraSpacePoint iFaceRotation; - CameraSpacePoint iFaceRotationCenter; + CameraSpacePoint iLastFaceRotation = { 0 }; + CameraSpacePoint iFaceRotation = { 0 }; + CameraSpacePoint iFaceRotationCenter = { 0 }; // std::unique_ptr<cv_video_widget> iVideoWidget; std::unique_ptr<QLayout> iLayout; |