作者：闫永强，算法工程师，Datawhale 成员
本文通过自建手势数据集，利用 YOLOv5s 检测，而后通过开源数据集训练 squeezenet 进行手部关键点预测，最初通过指间的夹角算法来判断具体的手势，并显示进去。文章第四部分为用 C ++ 实现整体的 ncnn 推理（代码较长，可先马后看）
一、YOLOV5 训练手部检测
训练及部署思路相似表情辨认，须要将 handpose 数据集标签改成一类，只检测手部，简化流程，更易上手。
此局部数据集起源格物钛 https://gas.graviti.cn/datase…，具体的成果如图：
本教程所用训练环境：
零碎环境：Ubuntu16.04
cuda 版本：10.2
cudnn 版本：7.6.5
pytorch 版本：1.6.0
python 版本：3.8部署环境：
编译器：vs2015
依赖库：opencv ncnn
外设：一般 USB 摄像头
二、手部关节点检测
1、依赖环境
和 YOLOV5 训练手部检测统一。
2、检测数据集筹备
该数据集包含网络图片以及数据集 <Large-scale Multiview 3D Hand Pose Dataset> 筛选动作反复度低的图片，进行制作大略有 5w 张数据样本。其中 <Large-scale Multiview 3D Hand Pose Dataset> 数据集的官网地址：http://www.rovit.ua.es/datase…，其中标注文件示例如图 2 所示
制作好能够间接训练的数据集放在了开源数据平台格物钛：https://gas.graviti.com/datas…
3、数据集在线应用
步骤 1：装置格物钛平台 SDK
pip install tensorbay步骤 2: 数据预处理
要应用曾经解决好能够间接训练的数据集，步骤如下：
a. 关上本文对应数据集链接 https://gas.graviti.cn/datase…，在数据集页面，fork 数据集到本人账户下；
b. 点击网页上方开发者工具 –> AccessKey –> 新建一个 AccessKey –> 复制这个 Key：KEY = ‘Acces………..’
咱们能够在不下载数据集的状况下，通过格物钛进行数据预处理，并将后果保留在本地。上面以应用 HandPose 数据集为例，应用 HandPoseKeyPoints 数据集操作同 HandPose 操作一样。
数据集开源地址：
https://gas.graviti.com/datas…
残缺我的项目代码：
https://github.com/datawhalec…
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:
# 图片数据
image = read_gas_image(data)
# 标签数据
# 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数据集页面可视化成果：
# 数据集划分
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、关节点检测原理
关节点检测 pipeline 流程是：
1）输出图片对应手部的 42 个关节点坐标，
2）整个网络的 backbone 能够是任何分类网络，我这里采纳的是 squeezenet，而后损失函数是 wingloss。
3）整个过程就是输出原图通过 squeezenet 网路计算出 42 个坐标值，而后通过 wingloss 进行回归计算更新权重，最初达到指定阈值，得出最终模型。
5、手部关节点训练
手部关节点算法采纳开源代码参考地址：https://gitcode.net/EricLee/h…
1）预训练模型
预训练模型在上述链接中有相应的网盘链接，能够间接下载。如果不想用预训练模型，能够间接从原始分类网络的原始权重开始训练。
2）模型的训练
以下是训练网络指定参数解释，其意义间接看图中正文就能够了。
训练只须要运行训练命令，指定本人想要指定的参数就能够跑起来了，如下图：
6、手部关节点模型转换
1）装置依赖库
pip install onnx coremltools onnx-simplifier2）导出 onnx 模型
python model2onnx.py --model_path squeezenet1_1-size-256-loss-wing_loss-model_epoch-2999.pth --model squeezenet1_1会呈现如下图所示
其中 model2onnx.py 文件是在上述链接工程目录下的。此时以后文件夹下会呈现一个相应的 onnx 模型 export。
3）用 onnx-simplifer 简化模型
为什么要简化？
因为在训练完深度学习的 pytorch 或者 tensorflow 模型后，有时候须要把模型转成 onnx，然而很多时候，很多节点比方 cast 节点，Identity 这些节点可能都不须要，须要进行简化，这样会不便把模型转成 ncnn mnn 等端侧部署模型格局。
python -m onnxsim squeezenet1_1_size-256.onnx squeezenet1_1_sim.onnx会呈现下图：
上述过程实现后就生成了简化版本的模型 squeezenet1_1_sim.onnx。
4）把检测模型转换成 ncnn 模型
能够间接利用网页在线版本转换模型，地址：https://convertmodel.com/ 页面如图：
抉择指标格局 ncnn，抉择输出格局 onnx，点击抉择，抉择本地的简化版本的模型，而后抉择转换，能够看到转换胜利，上面两个就是转换胜利的模型文件，如图。
三、利用关节点手势辨认算法
通过对检测到的手部关节点之间的角度计算，能够实现简略的手势辨认。例如：计算大拇指向量 0 - 2 和 3 - 4 之间的角度，它们之间的角度大于某一个角度阈值（经验值）定义为蜿蜒，小于某一个阈值（经验值）为蜷缩。具体成果如上面三张图。
四、工程推理部署整体实现
此关节点手势辨认的整体过程总结：首先是利用指标检测模型检测到手的地位，而后利用手部关节点检测模型，检测手部关节点具体位置，绘制关节点，以及关节点之间的连线。再利用简略的向量之间角度进行手势辨认。
整体的 ncnn 推理 C ++ 代码实现：
#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) {
// 求解二维向量的角度
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) {
// 获取对应手相干向量的二维角度，依据角度确定手势
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 无名指角度
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) {
// 二维束缚的形式定义手势
//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; // 进入手势判断标识}
}
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) { }
// 把手区域向外扩 30 个像素
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;
} 更多信息请拜访格物钛官网