Kinect for windows的脸部识别

原文： http://axzxs.blog.51cto.com/730810/1191261

需要引入的dll：http://down.51cto.com/data/774502

Kinect for windows提供了脸部识别的功能，可以识出人脸。主要是通过FaceTrackFrame类的GetTriangles()来得到一个三角形数组，这个三角形数组就是给成人面部的基本形状，并且组成的效果是立体的（可以这样理解，可以把3D都拆成三角形来表示，看上去像3D，但其实是2D），这个数组的每个元素都存放着三个整数，分别代码三角形的第一个点，第二个点和第三个点。FaceTrackFrame的GetProjected3DShape方法，可以获取一组坐标信息，这样就可以结合三角形数组元素中的点作为索引，从本方法的坐标集合中取出每个三角形的坐标点来了，就可以绘制这些三角形，就可以组成一个人脸的网络3D效果图了。

本例是从色彩摄像头中获取彩色数据流，并显示到窗体上，再通过FaceTracker得到得到脸部3D信息，并用GDI+的方式把网络图形画到窗体上，这时就可以在真实图像上看到浮着一张网络的面套。同时可以得出脸部交汇最多的坐标，并用GDI+添加上不同有色彩，同时还可以得到人体面部和Kinect 正面的偏差，即人头是否竖直，有没有偏上一边等角度信息。

using System;  
using System.Collections.Generic;  
using System.ComponentModel;  
using System.Data;  
using System.Drawing;  
using System.Linq;  
using System.Text;  
using System.Threading.Tasks;  
using System.Windows.Forms;  
 
using Microsoft.Kinect;  
using Microsoft.Kinect.Toolkit;  
using Microsoft.Kinect.Toolkit.FaceTracking;  
using System.Threading;  
using System.IO;  
using System.Drawing.Imaging;  
 
 
namespace Face  
{  
    public partial class Form1 : Form  
    {  
        public Form1()  
        {  
            InitializeComponent();  
        }  
 
        KinectSensor ks = null;  
        private void Form1_Load(object sender, EventArgs e)  
        {  
            //让winform窗体刷新不闪动  
            this.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);  
            this.SetStyle(ControlStyles.AllPaintingInWmPaint, true);  
            this.SetStyle(ControlStyles.UserPaint, true);  
            this.SetStyle(ControlStyles.DoubleBuffer, true);  
            //找到连接的Kinect设备  
            foreach (var ks in KinectSensor.KinectSensors)  
            {  
                if (ks.Status == KinectStatus.Connected)  
                {  
                    this.ks = ks;  
                }  
            }  
            //开启色彩流，深度流，骨骼流的跟踪  
            if (this.ks != null)  
            {  
                this.ks.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);  
                this.ks.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);  
                this.ks.DepthStream.Range = DepthRange.Near;  
                this.ks.SkeletonStream.EnableTrackingInNearRange = true;  
                this.ks.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;  
                this.ks.SkeletonStream.Enable();  
                //订阅跟踪数据读取事件  
                this.ks.AllFramesReady += OnAllFramesReady;  
                ks.Start();  
            }  
        }  
 
        //这个方法很重要，就是重绘人脸跟踪采集到的数据  
        protected override void OnPaint(PaintEventArgs e)  
        {  
            base.OnPaint(e);  
            foreach (SkeletonFaceTracker faceInformation in this.trackedSkeletons.Values)  
            {  
                //第一个参数为当前窗体为画布，第二个是添加采集到的信息到listbox中，这个方法画识别到脸部的信息  
                faceInformation.DrawFaceModel(e.Graphics, Messbox_LB);  
            }  
        }  
 
        //定义脸部识别的集合  
        private readonly Dictionary<int, SkeletonFaceTracker> trackedSkeletons = new Dictionary<int, SkeletonFaceTracker>();  
        //色彩流字节数组  
        private byte[] colorImage;  
        private ColorImageFormat colorImageFormat = ColorImageFormat.Undefined;  
        //深度流字节数组  
        private short[] depthImage;  
        private DepthImageFormat depthImageFormat = DepthImageFormat.Undefined;  
        //骨骼信息数组  
        private Skeleton[] skeletonData;  
 
 
        private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)  
        {  
            ColorImageFrame colorImageFrame = null;  
            DepthImageFrame depthImageFrame = null;  
            SkeletonFrame skeletonFrame = null;  
            try 
            {  
                colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();     //接到色彩流对框架  
                depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();     //接到深度流对框架  
                skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();     //接到骨骼流对框架  
 
                if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)  
                {  
                    return;  
                }  
                  
                if (this.depthImageFormat != depthImageFrame.Format)  
                {  
                    this.ResetFaceTracking();  
                    this.depthImage = null;  
                    this.depthImageFormat = depthImageFrame.Format;  
                }  
 
                if (this.colorImageFormat != colorImageFrame.Format)  
                {  
                    this.ResetFaceTracking();  
                    this.colorImage = null;  
                    this.colorImageFormat = colorImageFrame.Format;  
                }  
                if (this.depthImage == null)  
                {  
                    this.depthImage = new short[depthImageFrame.PixelDataLength];  
                }  
 
                if (this.colorImage == null)  
                {  
                    this.colorImage = new byte[colorImageFrame.PixelDataLength];  
                }  
 
                if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)  
                {  
                    this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];  
                }  
                //获取各种数据流信息  
                colorImageFrame.CopyPixelDataTo(this.colorImage);  
                depthImageFrame.CopyPixelDataTo(this.depthImage);  
                skeletonFrame.CopySkeletonDataTo(this.skeletonData);  
                //清空列表信息  
                Messbox_LB.Items.Clear();  
                //编历骨骼流  
                foreach (Skeleton skeleton in this.skeletonData)  
                {  
                    //找到有效的骨骼信息  
                    if (skeleton.TrackingState == SkeletonTrackingState.Tracked  
                        || skeleton.TrackingState == SkeletonTrackingState.PositionOnly)  
                    {  
                        if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))  
                        {  
                            //添加骨骼信息到集合中  
                            this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());  
                        }  
                        // 得到脸部识别对象  
                        SkeletonFaceTracker skeletonFaceTracker;  
                        if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))  
                        {  
                            //把获取的数据流的相关信息传给OnFrameReady方法  
                            skeletonFaceTracker.OnFrameReady(Messbox_LB, this.ks, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);  
                            skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;  
                        }  
                    }  
                }  
                //这个刷新会触发窗体的重画，OnPaint方法会被调用。  
                this.Refresh();  
                //把色彩流转转成位图显示成窗体的背景  
                this.BackgroundImage = ToGrayBitmap(colorImage, 640, 480);  
 
            }  
            finally 
            {  
                if (colorImageFrame != null)  
                {  
                    colorImageFrame.Dispose();  
                }  
                if (depthImageFrame != null)  
                {  
                    depthImageFrame.Dispose();  
                }  
                if (skeletonFrame != null)  
                {  
                    skeletonFrame.Dispose();  
                }  
            }  
        }  
        //把色采流数据转成位图返回  
        public static Bitmap ToGrayBitmap(byte[] rawValues, int width, int height)  
        {  
            //定议转换图片的格式，一个像素占32个，前24位为红绿蓝，后8位为空  
            PixelFormat pf = PixelFormat.Format32bppRgb;  
            //申请目标位图的变量  
            Bitmap bmp = new Bitmap(width, height, pf);  
            //将其内存区域锁定   
            BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, pf);  
            //获取位图的起始地址  
            IntPtr iptr = bmpData.Scan0;  
            //用Marshal的Copy方法，将色彩流字节数组复制到BitmapData中   
            System.Runtime.InteropServices.Marshal.Copy(rawValues, 0, iptr, rawValues.Length);  
            //释放锁  
            bmp.UnlockBits(bmpData);  
            return bmp;  
        }  
        //重新设置识别对象  
        private void ResetFaceTracking()  
        {  
            foreach (int trackingId in new List<int>(this.trackedSkeletons.Keys))  
            {  
                this.RemoveTracker(trackingId);  
            }  
        }  
        //从集合中移动识别信息  
        private void RemoveTracker(int trackingId)  
        {  
            this.trackedSkeletons[trackingId].Dispose();  
            this.trackedSkeletons.Remove(trackingId);  
        }  
 
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)  
        {  
            if (this.ks.Status == KinectStatus.Connected)  
            {  
                ks.Stop();  
            }  
        }  
        //定义脸识别类  
        class SkeletonFaceTracker : IDisposable  
        {  
            //定义脸部识别形状三角形数组  
            private static FaceTriangle[] faceTriangles;  
            //脸部识别坐标点集合  
            private EnumIndexableCollection<FeaturePoint, Microsoft.Kinect.Toolkit.FaceTracking.PointF> facePoints;  
            //脸部跟踪类  
            private FaceTracker faceTracker;  
            //定义识别成功标识  
            private bool lastFaceTrackSucceeded;  
            //骨骼跟踪状态  
            private SkeletonTrackingState skeletonTrackingState;  
 
            public int LastTrackedFrame { get; set; }  
 
            public void Dispose()  
            {  
                if (this.faceTracker != null)  
                {  
                    this.faceTracker.Dispose();  
                    this.faceTracker = null;  
                }  
            }  
            //用来把识别的信息绘制出来  
            public void DrawFaceModel(Graphics graphics, ListBox lb)  
            {  
                if (!this.lastFaceTrackSucceeded || this.skeletonTrackingState != SkeletonTrackingState.Tracked)  
                {  
                    return;  
                }  
 
                List<System.Drawing.PointF> faceModelPts = new List<System.Drawing.PointF>();  
 
                for (int i = 0; i < this.facePoints.Count; i++)  
                {  
                    faceModelPts.Add(new System.Drawing.PointF(this.facePoints[i].X + 0.5f, this.facePoints[i].Y + 0.5f));  
                }  
                System.Drawing.Pen pen = new System.Drawing.Pen(System.Drawing.Color.Green);  
 
                List<System.Drawing.PointF> list = new List<System.Drawing.PointF>();  
                //遍历所有的三角形，分别画三角形  
                for (int i = 0; i < faceTriangles.Count(); i++)  
                {  
                    System.Drawing.PointF[] pointFarr = new System.Drawing.PointF[4];  
                    pointFarr[0] = faceModelPts[faceTriangles[i].First];  
                    pointFarr[1] = faceModelPts[faceTriangles[i].Second];  
                    pointFarr[2] = faceModelPts[faceTriangles[i].Third];  
                    pointFarr[3] = faceModelPts[faceTriangles[i].First];  
                    list.AddRange(pointFarr.Take(3));  
                    graphics.DrawLines(pen, pointFarr);  
                }  
 
                lb.Items.Add(list.GroupBy(f => f).Count() + "点");  
                int count = list.GroupBy(f => f).Max(s => s.Count());  
                lb.Items.Add(count);  
                foreach (var v in list.GroupBy(f => f).Where(s => s.Count() == 10))  
                {  
                    lb.Items.Add(v.Key + " " + 10);  
                    graphics.FillEllipse(new SolidBrush(System.Drawing.Color.Red), v.Key.X, v.Key.Y, 5, 5);  
                }  
                foreach (var v in list.GroupBy(f => f).Where(s => s.Count() == 9))  
                {  
                    lb.Items.Add(v.Key + " " + 9);  
                    graphics.FillEllipse(new SolidBrush(System.Drawing.Color.Blue), v.Key.X, v.Key.Y, 5, 5);  
                }  
                foreach (var v in list.GroupBy(f => f).Where(s => s.Count() == 8))  
                {  
                    lb.Items.Add(v.Key + " " + 8);  
                    graphics.FillEllipse(new SolidBrush(System.Drawing.Color.Black), v.Key.X, v.Key.Y, 5, 5);  
                }  
 
            }  
 
 
            /// <summary>  
            /// 数据更新的方法  
            /// </summary>  
            internal void OnFrameReady(ListBox lb, KinectSensor kinectSensor, ColorImageFormat colorImageFormat, byte[] colorImage, DepthImageFormat depthImageFormat, short[] depthImage, Skeleton skeletonOfInterest)  
            {  
                this.skeletonTrackingState = skeletonOfInterest.TrackingState;  
                //判断是否为跟踪状态  
                if (this.skeletonTrackingState != SkeletonTrackingState.Tracked)  
                {  
                    return;  
                }  
                if (this.faceTracker == null)  
                {  
                    try 
                    {  
                        //从KinectSensor中实例化出一个脸部识别对象  
                        this.faceTracker = new FaceTracker(kinectSensor);  
                    }  
                    catch (InvalidOperationException)  
                    {  
                        this.faceTracker = null;  
                    }  
                }  
 
                if (this.faceTracker != null)  
                {  
                    //从脸部识别对象中得到脸识别框架  
                    FaceTrackFrame frame = this.faceTracker.Track(  
                        colorImageFormat, colorImage, depthImageFormat, depthImage, skeletonOfInterest);  
                    //标识识别成功  
                    this.lastFaceTrackSucceeded = frame.TrackSuccessful;  
                    if (this.lastFaceTrackSucceeded)  
                    {  
                        if (faceTriangles == null)  
                        {  
                            //得到脸部识别三角形数组  
                            faceTriangles = frame.GetTriangles();  
                             
                        }  
                        //得到脸部识别点的坐标  
                        this.facePoints = frame.GetProjected3DShape();  
 
                        //加载脸部的空间位置  
 
                        lb.Items.Add("Rotation   仰低头:" + frame.Rotation.X);  
                        lb.Items.Add("Rotation   左右转头:" + frame.Rotation.Y);  
                        lb.Items.Add("Rotation   左右偏头:" + frame.Rotation.Z);  
                    }  
                }  
            }  
             
            }  
        }  
    }  
}