關(guān)鍵點(diǎn)檢測(cè)項(xiàng)目代碼開(kāi)源了！
本文通過(guò)自建手勢(shì)數(shù)據(jù)集，利用YOLOv5s檢測(cè)，然后通過(guò)開(kāi)源數(shù)據(jù)集訓(xùn)練squeezenet進(jìn)行手部關(guān)鍵點(diǎn)預(yù)測(cè)，最后通過(guò)指間的夾角算法來(lái)判斷具體的手勢(shì)，并顯示出來(lái)。文章第四部分為用C++實(shí)現(xiàn)整體的ncnn推理（代碼較長(zhǎng)，可先馬后看）
一、YOLOV5訓(xùn)練手部檢測(cè)
訓(xùn)練及部署思路類(lèi)似表情識(shí)別，需要將handpose數(shù)據(jù)集標(biāo)簽改成一類(lèi)，只檢測(cè)手部，簡(jiǎn)化流程，更易上手。
此部分?jǐn)?shù)據(jù)集來(lái)源格物鈦 https://gas.graviti.cn/dataset/datawhale/HandPose，具體的效果如圖：
本教程所用訓(xùn)練環(huán)境： 系統(tǒng)環(huán)境：Ubuntu16.04 cuda版本：10.2 cudnn版本：7.6.5 pytorch版本：1.6.0 python版本：3.8 部署環(huán)境： 編譯器：vs2015 依賴(lài)庫(kù)：opencv ncnn 外設(shè)：普通USB攝像頭
二、手部關(guān)節(jié)點(diǎn)檢測(cè)
1、依賴(lài)環(huán)境
和YOLOV5訓(xùn)練手部檢測(cè)一致。
2、檢測(cè)數(shù)據(jù)集準(zhǔn)備
該數(shù)據(jù)集包括網(wǎng)絡(luò)圖片以及數(shù)據(jù)集<Large-scale Multiview 3D Hand Pose Dataset> 篩選動(dòng)作重復(fù)度低的圖片，進(jìn)行制作大概有5w張數(shù)據(jù)樣本。其中<Large-scale Multiview 3D Hand Pose Dataset>數(shù)據(jù)集的官網(wǎng)地址：http://www.rovit.ua.es/dataset/mhpdataset/，其中標(biāo)注文件示例如圖2所示
制作好可以直接訓(xùn)練的數(shù)據(jù)集放在了開(kāi)源數(shù)據(jù)平臺(tái)格物鈦：https://gas.graviti.com/dataset/datawhale/HandPoseKeyPoints
3、數(shù)據(jù)集在線使用
步驟1：安裝格物鈦平臺(tái)SDK
pip install tensorbay
步驟2: 數(shù)據(jù)預(yù)處理
要使用已經(jīng)處理好可以直接訓(xùn)練的數(shù)據(jù)集，步驟如下：
a. 打開(kāi)本文對(duì)應(yīng)數(shù)據(jù)集鏈接 https://gas.graviti.cn/dataset/datawhale/HandPose，在數(shù)據(jù)集頁(yè)面，fork數(shù)據(jù)集到自己賬戶(hù)下；
b. 點(diǎn)擊網(wǎng)頁(yè)上方開(kāi)發(fā)者工具 --> AccessKey --> 新建一個(gè)AccessKey --> 復(fù)制這個(gè)Key：KEY = 'Acces...........'
我們可以在不下載數(shù)據(jù)集的情況下，通過(guò)格物鈦進(jìn)行數(shù)據(jù)預(yù)處理，并將結(jié)果保存在本地。下面以使用HandPose數(shù)據(jù)集為例，使用HandPoseKeyPoints數(shù)據(jù)集操作同HandPose操作一樣。
數(shù)據(jù)集開(kāi)源地址：
https://gas.graviti.com/dataset/datawhale/HandPoseKeyPoints
完整項(xiàng)目代碼：
https://github.com/datawhalechina/HandPoseKeyPoints
import numpy as np
from PIL import Image
from tensorbay import GAS
from tensorbay.dataset import Dataset
def read_gas_image(data):
with data.open() as fp:
image = Image.open(fp)
image.load()
return np.array(image)
# Authorize a GAS client.
gas = GAS('填入你的AccessKey')
# Get a dataset.
dataset = Dataset("HandPose", gas)dataset.enable_cache("data")
# List dataset segments.
segments = dataset.keys()
# Get a segment by name
segment = dataset["train"]
for data in segment:
# 圖片數(shù)據(jù)
image = read_gas_image(data)
# 標(biāo)簽數(shù)據(jù)
# Use the data as you like.
for label_box2d in data.label.box2d:
xmin = label_box2d.xmin
ymin = label_box2d.ymin
xmax = label_box2d.xmax
ymax = label_box2d.ymax
box2d_category = label_box2d.category
break
數(shù)據(jù)集頁(yè)面可視化效果：
#數(shù)據(jù)集劃分
print(segments)
# ("train",'val')
print(len(dataset["train"]), "images in train dataset")
print(len(dataset["val"]), "images in valid dataset")
# 1306 images in train dataset
# 14 images in valid dataset4、關(guān)節(jié)點(diǎn)檢測(cè)原理
關(guān)節(jié)點(diǎn)檢測(cè)pipeline流程是：
1）輸入圖片對(duì)應(yīng)手部的42個(gè)關(guān)節(jié)點(diǎn)坐標(biāo)，
2）整個(gè)網(wǎng)絡(luò)的backbone可以是任何分類(lèi)網(wǎng)絡(luò)，我這里采用的是squeezenet，然后損失函數(shù)是wingloss。
3）整個(gè)過(guò)程就是輸入原圖經(jīng)過(guò)squeezenet網(wǎng)路計(jì)算出42個(gè)坐標(biāo)值，然后通過(guò)wingloss進(jìn)行回歸計(jì)算更新權(quán)重，最后達(dá)到指定閾值，得出最終模型。
5、手部關(guān)節(jié)點(diǎn)訓(xùn)練
手部關(guān)節(jié)點(diǎn)算法采用開(kāi)源代碼參考地址：https://gitcode.net/EricLee/handpose_x
1）預(yù)訓(xùn)練模型
預(yù)訓(xùn)練模型在上述鏈接中有相應(yīng)的網(wǎng)盤(pán)鏈接，可以直接下載。如果不想用預(yù)訓(xùn)練模型，可以直接從原始分類(lèi)網(wǎng)絡(luò)的原始權(quán)重開(kāi)始訓(xùn)練。
2）模型的訓(xùn)練
以下是訓(xùn)練網(wǎng)絡(luò)指定參數(shù)解釋?zhuān)湟饬x直接看圖中注釋就可以了。
訓(xùn)練只需要運(yùn)行訓(xùn)練命令，指定自己想要指定的參數(shù)就可以跑起來(lái)了，如下圖：
6、手部關(guān)節(jié)點(diǎn)模型轉(zhuǎn)換
1）安裝依賴(lài)庫(kù)
pip install onnx coremltools onnx-simplifier
2）導(dǎo)出onnx模型
python model2onnx.py --model_path squeezenet1_1-size-256-loss-wing_loss-model_epoch-2999.pth --model squeezenet1_1
會(huì)出現(xiàn)如下圖所示
其中model2onnx.py文件是在上述鏈接工程目錄下的。此時(shí)當(dāng)前文件夾下會(huì)出現(xiàn)一個(gè)相應(yīng)的onnx模型export。
3）用onnx-simplifer簡(jiǎn)化模型
為什么要簡(jiǎn)化？
因?yàn)樵谟?xùn)練完深度學(xué)習(xí)的pytorch或者tensorflow模型后，有時(shí)候需要把模型轉(zhuǎn)成onnx，但是很多時(shí)候，很多節(jié)點(diǎn)比如cast節(jié)點(diǎn)，Identity這些節(jié)點(diǎn)可能都不需要，需要進(jìn)行簡(jiǎn)化，這樣會(huì)方便把模型轉(zhuǎn)成ncnn mnn等端側(cè)部署模型格式。
python -m onnxsim squeezenet1_1_size-256.onnx squeezenet1_1_sim.onnx
會(huì)出現(xiàn)下圖：
上述過(guò)程完成后就生成了簡(jiǎn)化版本的模型squeezenet1_1_sim.onnx。
4）把檢測(cè)模型轉(zhuǎn)換成ncnn模型
可以直接利用網(wǎng)頁(yè)在線版本轉(zhuǎn)換模型，地址：https://convertmodel.com/ 頁(yè)面如圖：
選擇目標(biāo)格式ncnn，選擇輸入格式onnx，點(diǎn)擊選擇，選擇本地的簡(jiǎn)化版本的模型，然后選擇轉(zhuǎn)換，可以看到轉(zhuǎn)換成功，下面兩個(gè)就是轉(zhuǎn)換成功的模型文件，如圖。
三、利用關(guān)節(jié)點(diǎn)手勢(shì)識(shí)別算法
通過(guò)對(duì)檢測(cè)到的手部關(guān)節(jié)點(diǎn)之間的角度計(jì)算，可以實(shí)現(xiàn)簡(jiǎn)單的手勢(shì)識(shí)別。例如：計(jì)算大拇指向量0-2和3-4之間的角度，它們之間的角度大于某一個(gè)角度閾值（經(jīng)驗(yàn)值）定義為彎曲，小于某一個(gè)閾值（經(jīng)驗(yàn)值）為伸直。具體效果如下面三張圖。
四、工程推理部署整體實(shí)現(xiàn)
此關(guān)節(jié)點(diǎn)手勢(shì)識(shí)別的整體過(guò)程總結(jié)：首先是利用目標(biāo)檢測(cè)模型檢測(cè)到手的位置，然后利用手部關(guān)節(jié)點(diǎn)檢測(cè)模型，檢測(cè)手部關(guān)節(jié)點(diǎn)具體位置，繪制關(guān)節(jié)點(diǎn)，以及關(guān)節(jié)點(diǎn)之間的連線。再利用簡(jiǎn)單的向量之間角度進(jìn)行手勢(shì)識(shí)別。
整體的ncnn推理C++ 代碼實(shí)現(xiàn)：
#include <string>
#include <vector>
#include "iostream"
#include<cmath>
// ncnn
#include "ncnn/layer.h"
#include "ncnn/net.h"
#include "ncnn/benchmark.h"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <opencv2/imgproc.hpp>
#include "opencv2/opencv.hpp"
using namespace std;
using namespace cv;
static ncnn::UnlockedPoolAllocator g_blob_pool_allocator;
static ncnn::PoolAllocator g_workspace_pool_allocator;
static ncnn::Net yolov5;
static ncnn::Net hand_keyPoints;
class YoloV5Focus : public ncnn::Layer
{
public:
YoloV5Focus()
{
one_blob_only = true;
}
virtual int forward(const ncnn::Mat& bottom_blob, ncnn::Mat& top_blob, const ncnn::Option& opt) const
{
int w = bottom_blob.w;
int h = bottom_blob.h;
int channels = bottom_blob.c;
int outw = w / 2;
int outh = h / 2;
int outc = channels * 4;
top_blob.create(outw, outh, outc, 4u, 1, opt.blob_allocator);
if (top_blob.empty())
return -100;
#pragma omp parallel for num_threads(opt.num_threads)
for (int p = 0; p < outc; p++)
{
const float* ptr = bottom_blob.channel(p % channels).row((p / channels) % 2) + ((p / channels) / 2);
float* outptr = top_blob.channel(p);
for (int i = 0; i < outh; i++)
{
for (int j = 0; j < outw; j++)
{
*outptr = *ptr;
outptr += 1;
ptr += 2;
}
ptr += w;
}
}
return 0;
}
};
DEFINE_LAYER_CREATOR(YoloV5Focus)
struct Object
{
float x;
float y;
float w;
float h;
int label;
float prob;
};
static inline float intersection_area(const Object& a, const Object& b)
{
if (a.x > b.x + b.w || a.x + a.w < b.x || a.y > b.y + b.h || a.y + a.h < b.y)
{
// no intersection
return 0.f;
}
float inter_width = std::min(a.x + a.w, b.x + b.w) - std::max(a.x, b.x);
float inter_height = std::min(a.y + a.h, b.y + b.h) - std::max(a.y, b.y);
return inter_width * inter_height;
}
static void qsort_descent_inplace(std::vector<Object>& faceobjects, int left, int right)
{
int i = left;
int j = right;
float p = faceobjects[(left + right) / 2].prob;
while (i <= j)
{
while (faceobjects[i].prob > p)
i++;
while (faceobjects[j].prob < p)
j--;
if (i <= j)
{
std::swap(faceobjects[i], faceobjects[j]);
i++;
j--;
}
}
#pragma omp parallel sections
{
#pragma omp section
{
if (left < j) qsort_descent_inplace(faceobjects, left, j);
}
#pragma omp section
{
if (i < right) qsort_descent_inplace(faceobjects, i, right);
}
}
}
static void qsort_descent_inplace(std::vector<Object>& faceobjects)
{
if (faceobjects.empty())
return;
qsort_descent_inplace(faceobjects, 0, faceobjects.size() - 1);
}
static void nms_sorted_bboxes(const std::vector<Object>& faceobjects, std::vector<int>& picked, float nms_threshold)
{
picked.clear();
const int n = faceobjects.size();
std::vector<float> areas(n);
for (int i = 0; i < n; i++)
{
areas[i] = faceobjects[i].w * faceobjects[i].h;
}
for (int i = 0; i < n; i++)
{
const Object& a = faceobjects[i];
int keep = 1;
for (int j = 0; j < (int)picked.size(); j++)
{
const Object& b = faceobjects[picked[j]];
float inter_area = intersection_area(a, b);
float union_area = areas[i] + areas[picked[j]] - inter_area;
// float IoU = inter_area / union_area
if (inter_area / union_area > nms_threshold)
keep = 0;
}
if (keep)
picked.push_back(i);
}
}
static inline float sigmoid(float x)
{
return static_cast<float>(1.f / (1.f + exp(-x)));
}
static void generate_proposals(const ncnn::Mat& anchors, int stride, const ncnn::Mat& in_pad, const ncnn::Mat& feat_blob, float prob_threshold, std::vector<Object>& objects)
{
const int num_grid = feat_blob.h;
int num_grid_x;
int num_grid_y;
if (in_pad.w > in_pad.h)
{
num_grid_x = in_pad.w / stride;
num_grid_y = num_grid / num_grid_x;
}
else
{
num_grid_y = in_pad.h / stride;
num_grid_x = num_grid / num_grid_y;
}
const int num_class = feat_blob.w - 5;
const int num_anchors = anchors.w / 2;
for (int q = 0; q < num_anchors; q++)
{
const float anchor_w = anchors[q * 2];
const float anchor_h = anchors[q * 2 + 1];
const ncnn::Mat feat = feat_blob.channel(q);
for (int i = 0; i < num_grid_y; i++)
{
for (int j = 0; j < num_grid_x; j++)
{
const float* featptr = feat.row(i * num_grid_x + j);
// find class index with max class score
int class_index = 0;
float class_score = -FLT_MAX;
for (int k = 0; k < num_class; k++)
{
float score = featptr[5 + k];
if (score > class_score)
{
class_index = k;
class_score = score;
}
}
float box_score = featptr[4];
float confidence = sigmoid(box_score) * sigmoid(class_score);
if (confidence >= prob_threshold)
{
float dx = sigmoid(featptr[0]);
float dy = sigmoid(featptr[1]);
float dw = sigmoid(featptr[2]);
float dh = sigmoid(featptr[3]);
float pb_cx = (dx * 2.f - 0.5f + j) * stride;
float pb_cy = (dy * 2.f - 0.5f + i) * stride;
float pb_w = pow(dw * 2.f, 2) * anchor_w;
float pb_h = pow(dh * 2.f, 2) * anchor_h;
float x0 = pb_cx - pb_w * 0.5f;
float y0 = pb_cy - pb_h * 0.5f;
float x1 = pb_cx + pb_w * 0.5f;
float y1 = pb_cy + pb_h * 0.5f;
Object obj;
obj.x = x0;
obj.y = y0;
obj.w = x1 - x0;
obj.h = y1 - y0;
obj.label = class_index;
obj.prob = confidence;
objects.push_back(obj);
}
}
}
}
}
extern "C" {
void release()
{
fprintf(stderr, "YoloV5Ncnn finished!");
}
int init_handKeyPoint() {
ncnn::Option opt;
opt.lightmode = true;
opt.num_threads = 4;
opt.blob_allocator = &g_blob_pool_allocator;
opt.workspace_allocator = &g_workspace_pool_allocator;
opt.use_packing_layout = true;
fprintf(stderr, "handKeyPoint init!\n");
hand_keyPoints.opt = opt;
int ret_hand = hand_keyPoints.load_param("squeezenet1_1.param"); //squeezenet1_1 resnet_50
if (ret_hand != 0) {
std::cout << "ret_hand:" << ret_hand << std::endl;
}
ret_hand = hand_keyPoints.load_model("squeezenet1_1.bin"); //squeezenet1_1 resnet_50
if (ret_hand != 0) {
std::cout << "ret_hand:" << ret_hand << std::endl;
}
return 0;
}
int init()
{
fprintf(stderr, "YoloV5sNcnn init!\n");
ncnn::Option opt;
opt.lightmode = true;
opt.num_threads = 4;
opt.blob_allocator = &g_blob_pool_allocator;
opt.workspace_allocator = &g_workspace_pool_allocator;
opt.use_packing_layout = true;
yolov5.opt = opt;
yolov5.register_custom_layer("YoloV5Focus", YoloV5Focus_layer_creator);
// init param
{
int ret = yolov5.load_param("yolov5s.param");
if (ret != 0)
{
std::cout << "ret= " << ret << std::endl;
fprintf(stderr, "YoloV5Ncnn, load_param failed");
return -301;
}
}
// init bin
{
int ret = yolov5.load_model("yolov5s.bin");
if (ret != 0)
{
fprintf(stderr, "YoloV5Ncnn, load_model failed");
return -301;
}
}
return 0;
}
int detect(cv::Mat img, std::vector<Object> &objects)
{
double start_time = ncnn::get_current_time();
const int target_size = 320;
const int width = img.cols;
const int height = img.rows;
int w = img.cols;
int h = img.rows;
float scale = 1.f;
if (w > h)
{
scale = (float)target_size / w;
w = target_size;
h = h * scale;
}
else
{
scale = (float)target_size / h;
h = target_size;
w = w * scale;
}
cv::resize(img, img, cv::Size(w, h));
ncnn::Mat in = ncnn::Mat::from_pixels(img.data, ncnn::Mat::PIXEL_BGR2RGB, w, h);
int wpad = (w + 31) / 32 * 32 - w;
int hpad = (h + 31) / 32 * 32 - h;
ncnn::Mat in_pad;
ncnn::copy_make_border(in, in_pad, hpad / 2, hpad - hpad / 2, wpad / 2, wpad - wpad / 2, ncnn::BORDER_CONSTANT, 114.f);
{
const float prob_threshold = 0.4f;
const float nms_threshold = 0.51f;
const float norm_vals[3] = { 1 / 255.f, 1 / 255.f, 1 / 255.f };
in_pad.substract_mean_normalize(0, norm_vals);
ncnn::Extractor ex = yolov5.create_extractor();
ex.input("images", in_pad);
std::vector<Object> proposals;
{
ncnn::Mat out;
ex.extract("output", out);
ncnn::Mat anchors(6);
anchors[0] = 10.f;
anchors[1] = 13.f;
anchors[2] = 16.f;
anchors[3] = 30.f;
anchors[4] = 33.f;
anchors[5] = 23.f;
std::vector<Object> objects8;
generate_proposals(anchors, 8, in_pad, out, prob_threshold, objects8);
proposals.insert(proposals.end(), objects8.begin(), objects8.end());
}
{
ncnn::Mat out;
ex.extract("771", out);
ncnn::Mat anchors(6);
anchors[0] = 30.f;
anchors[1] = 61.f;
anchors[2] = 62.f;
anchors[3] = 45.f;
anchors[4] = 59.f;
anchors[5] = 119.f;
std::vector<Object> objects16;
generate_proposals(anchors, 16, in_pad, out, prob_threshold, objects16);
proposals.insert(proposals.end(), objects16.begin(), objects16.end());
}
{
ncnn::Mat out;
ex.extract("791", out);
ncnn::Mat anchors(6);
anchors[0] = 116.f;
anchors[1] = 90.f;
anchors[2] = 156.f;
anchors[3] = 198.f;
anchors[4] = 373.f;
anchors[5] = 326.f;
std::vector<Object> objects32;
generate_proposals(anchors, 32, in_pad, out, prob_threshold, objects32);
proposals.insert(proposals.end(), objects32.begin(), objects32.end());
}
// sort all proposals by score from highest to lowest
qsort_descent_inplace(proposals);
std::vector<int> picked;
nms_sorted_bboxes(proposals, picked, nms_threshold);
int count = picked.size();
objects.resize(count);
for (int i = 0; i < count; i++)
{
objects[i] = proposals[picked[i]];
float x0 = (objects[i].x - (wpad / 2)) / scale;
float y0 = (objects[i].y - (hpad / 2)) / scale;
float x1 = (objects[i].x + objects[i].w - (wpad / 2)) / scale;
float y1 = (objects[i].y + objects[i].h - (hpad / 2)) / scale;
// clip
x0 = std::max(std::min(x0, (float)(width - 1)), 0.f);
y0 = std::max(std::min(y0, (float)(height - 1)), 0.f);
x1 = std::max(std::min(x1, (float)(width - 1)), 0.f);
y1 = std::max(std::min(y1, (float)(height - 1)), 0.f);
objects[i].x = x0;
objects[i].y = y0;
objects[i].w = x1;
objects[i].h = y1;
}
}
return 0;
}
}
static const char* class_names[] = {"hand"};
void draw_face_box(cv::Mat& bgr, std::vector<Object> object)
{
for (int i = 0; i < object.size(); i++)
{
const auto obj = object[i];
cv::rectangle(bgr, cv::Point(obj.x, obj.y), cv::Point(obj.w, obj.h), cv::Scalar(0, 255, 0), 3, 8, 0);
std::cout << "label:" << class_names[obj.label] << std::endl;
string emoji_path = "emoji\\" + string(class_names[obj.label]) + ".png";
cv::Mat logo = cv::imread(emoji_path);
if (logo.empty()) {
std::cout << "imread logo failed!!!" << std::endl;
return;
}
resize(logo, logo, cv::Size(80, 80));
cv::Mat imageROI = bgr(cv::Range(obj.x, obj.x + logo.rows), cv::Range(obj.y, obj.y + logo.cols));
logo.copyTo(imageROI);
}
}
static int detect_resnet(const cv::Mat& bgr,std::vector<float>& output) {
ncnn::Mat in = ncnn::Mat::from_pixels_resize(bgr.data,ncnn::Mat::PIXEL_RGB,bgr.cols,bgr.rows,256,256);
const float mean_vals[3] = { 104.f,117.f,123.f };//
const float norm_vals[3] = { 1/255.f, 1/255.f, 1/255.f };//1/255.f
in.substract_mean_normalize(mean_vals, norm_vals); //0 mean_vals, norm_vals
ncnn::Extractor ex = hand_keyPoints.create_extractor();
ex.input("input", in);
ncnn::Mat out;
ex.extract("output",out);
std::cout << "out.w:" << out.w <<" out.h: "<< out.h <<std::endl;
output.resize(out.w);
for (int i = 0; i < out.w; i++) {
output[i] = out[i];
}
return 0;
}
float vector_2d_angle(cv::Point p1,cv::Point p2) {
//求解二維向量的角度
float angle = 0.0;
try {
float radian_value = acos((p1.x*p2.x+p1.y*p2.y)/(sqrt(p1.x*p1.x+p1.y*p1.y)*sqrt(p2.x*p2.x+p2.y*p2.y)));
angle = 180*radian_value/3.1415;
}catch(...){
angle = 65535.;
}
if (angle > 180.) {
angle = 65535.;
}
return angle;
}
std::vector<float> hand_angle(std::vector<int>& hand_x,std::vector<int>& hand_y) {
//獲取對(duì)應(yīng)手相關(guān)向量的二維角度，根據(jù)角度確定手勢(shì)
float angle = 0.0;
std::vector<float> angle_list;
//------------------- thumb 大拇指角度
angle = vector_2d_angle(cv::Point((hand_x[0]-hand_x[2]),(hand_y[0]-hand_y[2])),cv::Point((hand_x[3]-hand_x[4]),(hand_y[3]-hand_y[4])));
angle_list.push_back(angle);
//--------------------index 食指角度
angle = vector_2d_angle(cv::Point((hand_x[0] - hand_x[6]), (hand_y[0] - hand_y[6])), cv::Point((hand_x[7] - hand_x[8]), (hand_y[7] - hand_y[8])));
angle_list.push_back(angle);
//---------------------middle 中指角度
angle = vector_2d_angle(cv::Point((hand_x[0] - hand_x[10]), (hand_y[0] - hand_y[10])), cv::Point((hand_x[11] - hand_x[12]), (hand_y[11] - hand_y[12])));
angle_list.push_back(angle);
//----------------------ring 無(wú)名指角度
angle = vector_2d_angle(cv::Point((hand_x[0] - hand_x[14]), (hand_y[0] - hand_y[14])), cv::Point((hand_x[15] - hand_x[16]), (hand_y[15] - hand_y[16])));
angle_list.push_back(angle);
//-----------------------pink 小拇指角度
angle = vector_2d_angle(cv::Point((hand_x[0] - hand_x[18]), (hand_y[0] - hand_y[18])), cv::Point((hand_x[19] - hand_x[20]), (hand_y[19] - hand_y[20])));
angle_list.push_back(angle);
return angle_list;
}
string h_gestrue(std::vector<float>& angle_lists) {
//二維約束的方式定義手勢(shì)
//fist five gun love one six three thumbup yeah
float thr_angle = 65.;
float thr_angle_thumb = 53.;
float thr_angle_s = 49.;
string gesture_str;
bool flag = false;
for (int i = 0; i < angle_lists.size(); i++) {
if (abs(65535 - int(angle_lists[i])) > 0) {
flag = true; //進(jìn)入手勢(shì)判斷標(biāo)識(shí)
}
}
std::cout << "flag:" << flag << std::endl;
if (flag) {
if (angle_lists[0] > thr_angle_thumb && angle_lists[1] > thr_angle
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] > thr_angle) {
gesture_str = "fist";
}
else if (angle_lists[0] < thr_angle_s && angle_lists[1] < thr_angle_s
&& angle_lists[2] < thr_angle_s && angle_lists[3] < thr_angle_s
&& angle_lists[4] < thr_angle_s) {
gesture_str = "five";
}
else if(angle_lists[0] < thr_angle_s && angle_lists[1] < thr_angle_s
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] > thr_angle){
gesture_str = "gun";
}
else if (angle_lists[0] < thr_angle_s && angle_lists[1] < thr_angle_s
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] < thr_angle_s) {
gesture_str = "love";
}
else if (angle_lists[0] < 5 && angle_lists[1] < thr_angle_s
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] > thr_angle) {
gesture_str = "one";
}
else if (angle_lists[0] < thr_angle_s && angle_lists[1] > thr_angle
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] < thr_angle_s) {
gesture_str = "six";
}
else if (angle_lists[0] > thr_angle_thumb && angle_lists[1] < thr_angle_s
&& angle_lists[2] < thr_angle_s && angle_lists[3] < thr_angle_s
&& angle_lists[4] > thr_angle) {
gesture_str = "three";
}
else if (angle_lists[0] < thr_angle_s && angle_lists[1] > thr_angle
&& angle_lists[2] > thr_angle && angle_lists[3] > thr_angle
&& angle_lists[4] > thr_angle) {
gesture_str = "thumbUp";
}
else if (angle_lists[0] > thr_angle_thumb && angle_lists[1] < thr_angle_s
&& angle_lists[2] < thr_angle_s && angle_lists[3] > thr_angle
&& angle_lists[4] > thr_angle) {
gesture_str = "two";
}
}
return gesture_str;
}
int main()
{
Mat frame;
VideoCapture capture(0);
init();
init_handKeyPoint();
while (true)
{
capture >> frame;
if (!frame.empty()) {
std::vector<Object> objects;
detect(frame, objects);
std::vector<float> hand_output;
for (int j = 0; j < objects.size(); ++j) {
cv::Mat handRoi;
int x, y, w, h;
try {
x = (int)objects[j].x < 0 ? 0 : (int)objects[j].x;
y = (int)objects[j].y < 0 ? 0 : (int)objects[j].y;
w = (int)objects[j].w < 0 ? 0 : (int)objects[j].w;
h = (int)objects[j].h < 0 ? 0 : (int)objects[j].h;
if (w > frame.cols){
w = frame.cols;
}
if (h > frame.rows) {
h = frame.rows;
}
}
catch (cv::Exception e) {
}
//把手區(qū)域向外擴(kuò)30個(gè)像素
x = max(0, x - 30);
y = max(0, y - 30);
int w_ = min(w - x + 30, 640);
int h_ = min(h - y + 30, 480);
cv::Rect roi(x,y,w_,h_);
handRoi = frame(roi);
cv::resize(handRoi,handRoi,cv::Size(256,256));
//detect_resnet(handRoi, hand_output);
detect_resnet(handRoi, hand_output);
std::vector<float> angle_lists;
string gesture_string;
std::vector<int> hand_points_x; //
std::vector<int> hand_points_y;
for (int k = 0; k < hand_output.size()/2; k++) {
int x = int(hand_output[k * 2 + 0] * handRoi.cols);//+int(roi.x)-1;
int y = int(hand_output[k * 2 + 1] * handRoi.rows);// +int(roi.y) - 1;
//x1 = x1 < 0 ? abs(x1) : x1;
//x2 = x2 < 0 ? abs(x2) : x2;
hand_points_x.push_back(x);
hand_points_y.push_back(y);
std::cout << "x1: " << x << " x2: " << y << std::endl;
cv::circle(handRoi, cv::Point(x,y), 3, (0, 255, 0), 3);
cv::circle(handRoi, cv::Point(x,y), 3, (0, 255, 0), 3);
}
cv::line(handRoi, cv::Point(hand_points_x[0], hand_points_y[0]), cv::Point(hand_points_x[1], hand_points_y[1]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[1], hand_points_y[1]), cv::Point(hand_points_x[2], hand_points_y[2]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[2], hand_points_y[2]), cv::Point(hand_points_x[3], hand_points_y[3]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[3], hand_points_y[3]), cv::Point(hand_points_x[4], hand_points_y[4]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[0], hand_points_y[0]), cv::Point(hand_points_x[5], hand_points_y[5]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[5], hand_points_y[5]), cv::Point(hand_points_x[6], hand_points_y[6]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[6], hand_points_y[6]), cv::Point(hand_points_x[7], hand_points_y[7]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[7], hand_points_y[7]), cv::Point(hand_points_x[8], hand_points_y[8]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[0], hand_points_y[0]), cv::Point(hand_points_x[9], hand_points_y[9]), cv::Scalar(0, 0, 255), 3);
cv::line(handRoi, cv::Point(hand_points_x[9], hand_points_y[9]), cv::Point(hand_points_x[10], hand_points_y[10]), cv::Scalar(0, 0, 255), 3);
cv::line(handRoi, cv::Point(hand_points_x[10], hand_points_y[10]), cv::Point(hand_points_x[11], hand_points_y[11]), cv::Scalar(0, 0, 255), 3);
cv::line(handRoi, cv::Point(hand_points_x[11], hand_points_y[11]), cv::Point(hand_points_x[12], hand_points_y[12]), cv::Scalar(0, 0, 255), 3);
cv::line(handRoi, cv::Point(hand_points_x[0], hand_points_y[0]), cv::Point(hand_points_x[13], hand_points_y[13]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[13], hand_points_y[13]), cv::Point(hand_points_x[14], hand_points_y[14]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[14], hand_points_y[14]), cv::Point(hand_points_x[15], hand_points_y[15]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[15], hand_points_y[15]), cv::Point(hand_points_x[16], hand_points_y[16]), cv::Scalar(255, 0, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[0], hand_points_y[0]), cv::Point(hand_points_x[17], hand_points_y[17]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[17], hand_points_y[17]), cv::Point(hand_points_x[18], hand_points_y[18]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[18], hand_points_y[18]), cv::Point(hand_points_x[19], hand_points_y[19]), cv::Scalar(0, 255, 0), 3);
cv::line(handRoi, cv::Point(hand_points_x[19], hand_points_y[19]), cv::Point(hand_points_x[20], hand_points_y[20]), cv::Scalar(0, 255, 0), 3);
angle_lists = hand_angle(hand_points_x, hand_points_y);
gesture_string = h_gestrue(angle_lists);
std::cout << "getsture_string:" << gesture_string << std::endl;
cv::putText(handRoi,gesture_string,cv::Point(30,30),cv::FONT_HERSHEY_COMPLEX,1, cv::Scalar(0, 255, 255), 1, 1, 0);
cv::imshow("handRoi", handRoi);
cv::waitKey(10);
angle_lists.clear();
hand_points_x.clear();
hand_points_y.clear();
}
}
if (cv::waitKey(20) == 'q')
break;
}
capture.release();
return 0;
}
五、視頻展示
評(píng)論
圖片
表情