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);  }  }  }  }  }  }
}